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https://github.com/firestar5683/StarPilot.git
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firestar5683
2b1152adf7
Integrate vehicle-specific steering, longitudinal control, startup, and handoff policies, including Ioniq, EV9, GV70, and non-SCC configurations. Preserve the corresponding native safety and CAN routing contracts. Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: Intelli <contact@intelli.software>
53 lines
1.9 KiB
Python
53 lines
1.9 KiB
Python
from types import SimpleNamespace
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from opendbc.car.hyundai.values import CAR
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from openpilot.starpilot.car.hyundai.button_migration import MIGRATION_KEY, migrate_lkas_default
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class Saved:
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def __init__(self, action):
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self.values = {'LKASButtonControl': action, 'AlwaysOnLateral': False}
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def get(self, key, **kwargs):
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return self.values.get(key)
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def get_bool(self, key):
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return bool(self.values.get(key, False))
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def get_param_path(self, key):
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return '/path-that-does-not-exist-for-test/' + key
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def put(self, key, value, **kwargs):
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self.values[key] = value
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def put_bool(self, key, value, **kwargs):
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self.values[key] = value
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def test_sonata_migration_is_once_and_preserves_postmigration_choice():
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cp = SimpleNamespace(brand='hyundai', carFingerprint=CAR.HYUNDAI_SONATA_HYBRID)
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saved = Saved(None)
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assert migrate_lkas_default(cp, saved)
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assert saved.get('LKASButtonControl') == 9
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assert not saved.get_bool('AlwaysOnLateral')
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saved.put('LKASButtonControl', b'5')
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assert not migrate_lkas_default(cp, saved)
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assert saved.get('LKASButtonControl') == b'5'
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assert saved.get_bool(MIGRATION_KEY)
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def test_unknown_carparams_never_reads_or_writes_saved_settings():
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class Unused:
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def get_bool(self, *_):
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raise AssertionError('Unknown identity must not access settings')
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for cp in (None, object(), SimpleNamespace(), SimpleNamespace(brand='hyundai')):
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assert not migrate_lkas_default(cp, Unused())
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def test_custom_mapping_and_ioniq_are_preserved():
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cp = SimpleNamespace(brand='hyundai', carFingerprint=CAR.HYUNDAI_SONATA_HYBRID)
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for action in (b'0', b'3', b'4', b'5', b'9', b'garbage'):
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saved = Saved(action)
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assert migrate_lkas_default(cp, saved)
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assert saved.get('LKASButtonControl') == action
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cp.carFingerprint = CAR.HYUNDAI_IONIQ_6
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saved = Saved(b'5')
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assert not migrate_lkas_default(cp, saved)
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assert saved.get('LKASButtonControl') == b'5'
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assert not saved.get_bool(MIGRATION_KEY)
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