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https://github.com/firestar5683/StarPilot.git
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firestar5683
95 lines
4.3 KiB
Python
95 lines
4.3 KiB
Python
import unittest
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from dataclasses import replace
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from opendbc.car import gen_empty_fingerprint, structs
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from opendbc.car.subaru.interface import CarInterface
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from opendbc.car.subaru.stock_aol import ANGLE_CARS, TORQUE_CARS, qualified
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from opendbc.car.subaru.tests.test_ascent_angle import setup_controller, step
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from opendbc.car.subaru.values import CAR
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from openpilot.starpilot.aol.intent import AolSettings
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from openpilot.starpilot.aol.vehicle import policy_for, native_matches_cp
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from openpilot.starpilot.car.subaru.aol import SubaruStockCardIntent
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class TestSubaruStockAol(unittest.TestCase):
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def test_exact_factory_profiles_and_stock_off_choices(self):
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for car in CAR:
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for alpha in (False, True):
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for source in ('fixed', 'fw', 'can'):
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cp = CarInterface.get_params(car, gen_empty_fingerprint(), [], alpha, False, False)
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cp.fingerprintSource = source
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admitted = car in ANGLE_CARS | TORQUE_CARS
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self.assertEqual(qualified(cp), admitted)
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policy = policy_for(cp)
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self.assertFalse(policy.full_axis_runtime_required)
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self.assertFalse(cp.openpilotLongitudinalControl)
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if admitted:
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cp.alternativeExperience |= policy.alternative_experience_addition
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self.assertTrue(qualified(cp, marked_only=True))
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self.assertTrue(policy_for(cp).full_axis_runtime_required)
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self.assertTrue(native_matches_cp(cp, int(cp.safetyConfigs[0].safetyModel.raw), cp.safetyConfigs[0].safetyParam))
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cp.safetyConfigs[0].safetyParam |= 2
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self.assertFalse(qualified(cp))
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def test_successful_full_engagement_brake_reverse_fault_main_and_off(self):
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settings = AolSettings(True, 0., 0, 0, (0, 0, 0), (0, 0, 0))
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intent = SubaruStockCardIntent(settings)
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cs = structs.CarState(canValid=True, vEgo=15, gearShifter=structs.CarState.GearShifter.drive)
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cs.cruiseState.available = cs.cruiseState.enabled = True
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def observe(enabled, active, stamp):
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intent.observe_full_engagement(cs.as_reader(), enabled=enabled, active=active, source_ns=stamp,
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observation_valid=True, now_ns=stamp, fault_active=False)
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intent.update(cs.as_reader(), now_ns=1)
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self.assertFalse(intent.allowed_latch)
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observe(False, False, 10)
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observe(True, False, 20)
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self.assertFalse(intent.allowed_latch)
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observe(True, True, 30)
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self.assertTrue(intent.allowed_latch)
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cs.brakePressed = True
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cs.cruiseState.enabled = False
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intent.update(cs.as_reader(), now_ns=40)
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self.assertTrue(intent.allowed_latch)
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cs.gearShifter = structs.CarState.GearShifter.reverse
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intent.update(cs.as_reader(), now_ns=50)
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self.assertTrue(intent.allowed_latch)
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cs.steerFaultTemporary = True
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intent.update(cs.as_reader(), now_ns=60)
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self.assertTrue(intent.allowed_latch)
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cs.gearShifter = structs.CarState.GearShifter.drive
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cs.steerFaultTemporary = False
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cs.steerFaultPermanent = True
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intent.update(cs.as_reader(), now_ns=70)
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self.assertFalse(intent.allowed_latch)
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cs.steerFaultPermanent = False
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intent.update(cs.as_reader(), fault_active=False, now_ns=80)
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observe(False, False, 90)
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observe(True, True, 100)
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self.assertTrue(intent.allowed_latch)
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cs.cruiseState.available = False
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intent.update(cs.as_reader(), now_ns=110)
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self.assertFalse(intent.allowed_latch)
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cs.cruiseState.available = True
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intent.update(cs.as_reader(), now_ns=120)
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self.assertFalse(intent.allowed_latch)
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intent.settings = replace(settings, enabled=False)
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observe(False, False, 130)
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observe(True, True, 140)
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self.assertFalse(intent.allowed_latch)
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def test_angle_controller_only_marked_profile_accepts_independent_lateral(self):
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for car in ANGLE_CARS:
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for enrolled in (False, True):
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cp, controller, command, state = setup_controller(car)
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cp.alternativeExperience = 32 if enrolled else 0
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command.enabled = False
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command.latActive = True
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state.out.brakePressed = True
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state.out.cruiseState.enabled = False
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step(controller, command, state)
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_, decoded = step(controller, command, state)
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self.assertEqual(bool(decoded['LKAS_Request']), enrolled)
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state.out.gearShifter = structs.CarState.GearShifter.reverse
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_, decoded = step(controller, command, state)
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self.assertEqual(decoded['LKAS_Request'], 0)
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