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https://github.com/firestar5683/StarPilot.git
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firestar5683
91 lines
4.6 KiB
Python
91 lines
4.6 KiB
Python
"""Current Card/SD location retention with explicit synthetic wire transport."""
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from contextlib import ExitStack
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from unittest import mock
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import pytest
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from opendbc.car import gen_empty_fingerprint, structs
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from openpilot.cereal import log
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from opendbc.car.chrysler.interface import CarInterface
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from opendbc.car.chrysler.radar_interface import RadarInterface
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from opendbc.car.chrysler.values import CAR
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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_stock_location_family_intent as shared_cases
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from openpilot.starpilot.aol.tests.stock_lateral_test_helpers import car_state, hkg_family_case
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def chrysler_callers(cleanup, candidate):
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cleanup.enter_context(OpenpilotPrefix())
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saved = Params()
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saved.put_bool('AlwaysOnLateral', True, block=True)
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for key in ('LKASButtonControl', 'MainCruiseButtonControl', 'CancelButtonControl',
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'LongCancelButtonControl', 'VeryLongCancelButtonControl'):
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saved.put(key, 0, block=True)
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case = hkg_family_case('hkg_canfd', False)
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cleanup.callback(case.doCleanups)
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cp = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False)
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case.family_cp = cp.as_reader()
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case.interface_type, case.radar_type = CarInterface, RadarInterface
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sd, _, drive, card, receive = case.family_callers(False)
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state = car_state()
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state.vEgo = state.vEgoRaw = 20.0
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return sd, drive, card, receive, state
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@pytest.mark.parametrize('candidate', (CAR.CHRYSLER_PACIFICA_2018, CAR.RAM_1500_5TH_GEN))
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@pytest.mark.parametrize('event_first', (False, True))
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def test_location_loss_retains_existing_stock_lateral_intent(monkeypatch, candidate, event_first):
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monkeypatch.setattr(shared_cases, 'stock_family_callers', chrysler_callers)
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shared_cases.test_existing_stock_hkg_location_and_nominal_pcm_off_keep_established_intent(candidate, event_first)
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@pytest.mark.parametrize('candidate', (CAR.CHRYSLER_PACIFICA_2018, CAR.RAM_1500_5TH_GEN))
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@pytest.mark.parametrize('fault', ('native_denial', 'native_invalid', 'panda_rx', 'relay', 'permanent_eps',
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'invalid_can', 'can_timeout', 'door', 'seatbelt', 'brake', 'regen', 'gas', 'physical_cancel', 'reverse', 'unknown_gear',
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'extra_user', 'hard_event', 'epoch', 'session', 'expired', 'future_source', 'no_baseline'))
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def test_location_retention_rejects_independent_faults(monkeypatch, candidate, fault):
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if fault == 'physical_cancel':
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physical_cancel_clears_location_intent(candidate)
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else:
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monkeypatch.setattr(shared_cases, 'stock_family_callers', chrysler_callers)
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shared_cases.test_stock_location_never_retains_intent_through_independent_fault(candidate, fault)
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def physical_cancel_clears_location_intent(candidate):
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# Chrysler CANCEL is a physical disarm even with no optional button mapping.
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# The shared HKG case instead permits its unassigned CANCEL to pause output.
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with ExitStack() as cleanup:
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sd, drive, card, receive, state = chrysler_callers(cleanup, candidate)
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assert card.aol_card_intent.settings.cancel_actions == (0, 0, 0)
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for tick in range(2, 5):
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axis, _, command = drive(tick, observed_state=state, panda_controls_allowed=False, native_request_long=False)
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assert axis.lateralActive and command.latActive
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assert not axis.longitudinalActive and not command.longActive
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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_transport_feedback.lateral_baseline_ns
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original = sd.sm.update_msgs
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def update(timestamp, messages):
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selected = []
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for message in messages:
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if message.which() == 'deviceMotion':
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message = message.as_builder()
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message.deviceMotion.inputsOK = False
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message = message.as_reader()
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selected.append(message)
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return original(timestamp, selected)
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with mock.patch.object(sd.sm, 'update_msgs', side_effect=update):
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axis, _, command = drive(5, observed_state=state, panda_controls_allowed=False, native_request_long=False)
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assert log.OnroadEvent.EventName.locationdTemporaryError in sd.events.names
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assert log.OnroadEvent.EventName.pcmDisable in sd.events.names
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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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state.buttonEvents = [structs.CarState.ButtonEvent(type='cancel', pressed=True)]
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assert not receive(10_050_000_001, state=state,
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axis=sd.pm.messages['aolAxisState'], event=sd.pm.messages['onroadEvents'])
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assert not card.aol_card_intent.allowed_latch
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