mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
84 lines
4.3 KiB
Python
84 lines
4.3 KiB
Python
from dataclasses import replace
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import pytest
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from opendbc.car import gen_empty_fingerprint, structs
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from opendbc.car.mazda.interface import CarInterface
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from opendbc.car.mazda.values import CAR
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from openpilot.starpilot.aol.intent import AolSettings
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from openpilot.starpilot.car.mazda.stock_intent import MazdaStockCardIntent
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@pytest.mark.parametrize('identity', (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021))
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@pytest.mark.parametrize('blocker', ('disabled', 'main_toggle', 'lkas_toggle', 'active', 'permanent', 'fault'))
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def test_startup_main_never_overrides_saved_off_or_disarming_fault(identity, blocker):
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cp = CarInterface.get_params(identity, gen_empty_fingerprint(), [], False, False, False)
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settings = AolSettings(True, 0., 0, 0, (0, 0, 0), (0, 0, 0))
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if blocker == 'disabled':
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settings = replace(settings, enabled=False)
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elif blocker == 'main_toggle':
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settings = replace(settings, main_action=9)
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elif blocker == 'lkas_toggle':
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settings = replace(settings, lkas_action=9)
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intent = MazdaStockCardIntent(cp, settings)
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cs = structs.CarState(canValid=True, gearShifter='drive')
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cs.cruiseState.available = True
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cs.cruiseState.enabled = blocker == 'active'
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cs.steerFaultPermanent = blocker == 'permanent'
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intent.update(cs.as_reader(), fault_active=blocker == 'fault', now_ns=1_000_000_000)
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assert not intent.allowed_latch
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cs.cruiseState.enabled = False
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cs.steerFaultPermanent = False
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for tick in range(10):
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intent.update(cs.as_reader(), fault_active=False, now_ns=1_010_000_000 + tick * 10_000_000)
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assert not intent.allowed_latch
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@pytest.mark.parametrize('identity', (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021))
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def test_invalid_can_cannot_supply_startup_main(identity):
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cp = CarInterface.get_params(identity, gen_empty_fingerprint(), [], False, False, False)
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intent = MazdaStockCardIntent(cp, AolSettings(True, 0., 0, 0, (0, 0, 0), (0, 0, 0)))
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cs = structs.CarState(canValid=False, canTimeout=True)
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cs.cruiseState.available = True
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intent.update(cs.as_reader(), fault_active=False, now_ns=1_000_000_000)
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assert not intent.allowed_latch and intent.startup_main_pending
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@pytest.mark.parametrize('bad', ('none', 'producer', 'session', 'future', 'expired', 'unacknowledged',
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'active', 'native_request', 'panda_fault', 'axis_invalid', 'events_stale'))
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def test_startup_admission_requires_bound_current_idle_proof(bad):
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from openpilot.starpilot.tests.test_ford_reverse_intent import NOW, PRODUCER, change, native_change, sample
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cp = CarInterface.get_params(CAR.MAZDA_CX5_2022, gen_empty_fingerprint(), [], False, False, False)
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cp.alternativeExperience = 32
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intent = MazdaStockCardIntent(cp, AolSettings(True, 0., 0, 0, (0, 0, 0), (0, 0, 0)))
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cs = structs.CarState(canValid=True, gearShifter='drive')
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cs.cruiseState.available = True
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for tick in range(1, 4):
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now = NOW + tick * 10_000_000
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sm, native = sample(cp, now, now, tick, active=False, requested=False, allowed=False, event_stamp=now)
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producer = PRODUCER
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if bad == 'producer':
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producer = 'other-card'
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elif bad == 'session':
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change(sm, 'aolAxisState', lambda axis: setattr(axis, 'sessionId', 'other-axis'))
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elif bad == 'future':
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change(sm, 'aolAxisState', lambda axis, stamp=now: setattr(axis, 'sourceCarStateMonoTime', stamp + 1))
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elif bad == 'expired':
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change(sm, 'aolAxisState', lambda axis, stamp=now: setattr(axis, 'validUntilMonoTime', stamp - 1))
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elif bad == 'unacknowledged':
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change(sm, 'aolAxisState', lambda axis: setattr(axis, 'nativeAcknowledged', False))
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elif bad == 'active':
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change(sm, 'aolAxisState', lambda axis: setattr(axis, 'lateralActive', True))
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elif bad == 'native_request':
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native = native_change(sm, native, requestedLateral=True)
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elif bad == 'panda_fault':
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change(sm, 'pandaStates', lambda pandas: setattr(pandas[0], 'safetyRxChecksInvalid', True))
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elif bad == 'axis_invalid':
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sm.valid['aolAxisState'] = False
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elif bad == 'events_stale':
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sm.logMonoTime['onroadEvents'] = now - 1_500_000_001
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intent.observe_startup_readiness(sm, cs, native=native, panda_ready=True, now_ns=now, producer=producer)
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intent.update(cs.as_reader(), fault_active=False, now_ns=now)
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assert intent.allowed_latch is (bad == 'none')
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assert not native.lateralAllowed and not native.longitudinalAllowed
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