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https://github.com/firestar5683/StarPilot.git
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firestar5683
51 lines
2.3 KiB
Python
51 lines
2.3 KiB
Python
"""Qualified stock Mazda rows use the original guarded Reverse proof."""
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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.stock_aol import qualified
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from opendbc.car.mazda.values import CAR
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from openpilot.cereal import log
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from openpilot.starpilot.aol.reverse_intent import retain_reverse_intent
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from openpilot.starpilot.tests import test_ford_reverse_intent as vectors
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@pytest.fixture(autouse=True, params=(CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021))
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def stock_mazda_vectors(request, monkeypatch):
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def cp_state():
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cp = CarInterface.get_params(request.param, gen_empty_fingerprint(), [], False, False, False)
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cp.alternativeExperience = 32
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assert qualified(cp, marked_only=True)
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cs = structs.CarState(canValid=True, canTimeout=False, vEgo=20., gearShifter=structs.CarState.GearShifter.drive)
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cs.cruiseState.available = True
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return cp, cs
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def retain(feedback, sm, cp, cs, axis, now_ns, *, latched, producer):
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return retain_reverse_intent(feedback, sm, cp, cs, axis, now_ns, latched=latched, producer=producer,
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qualified_cp=qualified(cp, marked_only=True),
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informational_events=(log.OnroadEvent.EventName.userBookmarkNotPaired,), allow_withdrawal_join=True)
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original_sample = vectors.sample
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def initial_epoch_sample(*args, **kwargs):
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sm, native = original_sample(*args, **kwargs)
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vectors.change(sm, 'aolAxisState', lambda axis: setattr(axis, 'intentIntegrityEpoch', 0))
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return sm, native
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monkeypatch.setattr(vectors, 'sample', initial_epoch_sample)
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monkeypatch.setattr(vectors, 'cp_state', cp_state)
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monkeypatch.setattr(vectors, 'retain_reverse_intent', retain)
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def test_reverse_retains_only_existing_intent_without_renewing_leases():
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vectors.test_first_reverse_join_retains_only_intent_without_renewing_prior_leases()
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def test_off_proof_and_drive_need_fresh_native_admission():
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vectors.test_actual_off_proof_and_drive_recovery_use_unchanged_native_admission()
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@pytest.mark.parametrize('fault', vectors.NEGATIVES)
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def test_reverse_preserves_fault_source_identity_and_long_vetoes(fault):
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vectors.test_reverse_join_never_bypasses_current_fault_source_identity_or_long_veto(fault)
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