mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-13 07:53:45 +08:00
firestar5683
55 lines
3.0 KiB
Python
55 lines
3.0 KiB
Python
"""Toyota source cutoffs retain only the original, still-live command proof."""
|
|
from contextlib import ExitStack
|
|
from unittest import mock
|
|
import pytest
|
|
from openpilot.cereal import log
|
|
from openpilot.starpilot.aol.tests.stock_lateral_test_helpers import callers
|
|
from openpilot.starpilot.aol.tests.test_input_deadline_continuity import BASE
|
|
from openpilot.starpilot.aol.tests.test_ordinary_source_availability import settings
|
|
|
|
|
|
@pytest.mark.parametrize('mode', ('combined', 'combined_unarmed'))
|
|
@pytest.mark.parametrize('entry_expired', (False, True))
|
|
@pytest.mark.parametrize('condition', ('healthy', 'deadline', 'native_denied', 'cancel'))
|
|
def test_toyota_source_cutoff_keeps_original_lease_only(mode, entry_expired, condition):
|
|
with ExitStack() as cleanup:
|
|
sd, controls, drive, _, _ = callers(cleanup, 'toyota', False)
|
|
# Recorded shape: source -> publication 4.310ms, next selection at
|
|
# source+31.443ms, then fresh successor at source+30.051ms.
|
|
old, _, command = drive(2, state_stamp=BASE, offset_ns=4_309_575, **settings(mode, BASE, 3))
|
|
assert old.lateralActive and command.latActive
|
|
previous = sd.pm.messages['aolAxisState'].as_builder().to_bytes()
|
|
now = [BASE + (31_443_025 if entry_expired else 29_999_000)]
|
|
original_drain = sd.drain_axis_intent
|
|
|
|
def drain(companion, **kwargs):
|
|
result = original_drain(companion, **kwargs)
|
|
now[0] = old.validUntilMonoTime + 1 if condition == 'deadline' else BASE + 31_443_025
|
|
return result
|
|
|
|
options = settings(mode, BASE, 3)
|
|
if condition == 'native_denied':
|
|
options.update(allowed=False, long_allowed=False)
|
|
if condition == 'cancel':
|
|
options['user_disable'] = True
|
|
with mock.patch('openpilot.selfdrive.selfdrived.selfdrived.time.monotonic_ns', side_effect=lambda: now[0]), \
|
|
mock.patch.object(sd, 'drain_axis_intent', side_effect=drain):
|
|
axis, _, command = drive(5, timeout=True, offset_ns=now[0] - (BASE + 30_000_000), **options)
|
|
if condition != 'healthy':
|
|
assert not sd.aol_axis_publication_deferred
|
|
assert not command.latActive and not command.longActive
|
|
return
|
|
assert sd.aol_axis_publication_deferred
|
|
assert sd.pm.messages['aolAxisState'].as_builder().to_bytes() == previous
|
|
assert axis.sourceCarStateMonoTime == BASE and axis.validUntilMonoTime == old.validUntilMonoTime
|
|
assert not sd.events.contains(log.OnroadEvent.EventName.commIssue)
|
|
assert command.latActive and command.longActive
|
|
with mock.patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=old.validUntilMonoTime + 1):
|
|
expired, _ = controls.state_control()
|
|
assert not expired.latActive and not expired.longActive
|
|
fresh = BASE + 30_050_889
|
|
axis, _, command = drive(6, state_stamp=fresh, offset_ns=-2_000_000, **settings(mode, fresh, 4))
|
|
assert axis.sourceCarStateMonoTime == fresh and axis.lateralActive and command.latActive
|
|
assert axis.longitudinalActive and command.longActive
|
|
assert not sd.events.contains(log.OnroadEvent.EventName.commIssue)
|