mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
86 lines
4.0 KiB
Python
86 lines
4.0 KiB
Python
"""Exact stock Subaru profiles share the guarded physical Reverse join."""
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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.subaru.interface import CarInterface
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from opendbc.car.subaru.stock_aol import qualified
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from opendbc.car.subaru.values import CAR
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from openpilot.cereal import log
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from openpilot.common.prefix import OpenpilotPrefix
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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.SUBARU_ASCENT_2023, CAR.SUBARU_FORESTER))
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def stock_subaru_vectors(request, monkeypatch):
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def cp_state():
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candidate = request.param
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fp = gen_empty_fingerprint()
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with OpenpilotPrefix():
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cp = CarInterface.get_params(candidate, fp, [], 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=15., 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', [fault for fault in vectors.NEGATIVES if fault != 'long-cp'])
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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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def test_first_unacknowledged_off_joins_fresh_native_off_without_renewing_intent():
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cp, cs, feedback = vectors.baseline()
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cs.gearShifter = structs.CarState.GearShifter.reverse
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now = vectors.NOW + 20_000_000
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sm, _ = vectors.sample(cp, vectors.NOW + 10_000_000, now, 2, active=False, requested=False, allowed=False)
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vectors.change(sm, 'aolAxisState', lambda axis: setattr(axis, 'nativeAcknowledged', False))
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before = dict(vars(feedback))
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assert vectors.retain_reverse_intent(feedback, sm, cp, cs, sm['aolAxisState'], now,
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latched=True, producer=vectors.PRODUCER)
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assert vars(feedback) == before
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assert not feedback.observe(sm, cp, cs, now, latched=True, intent_producer_session=vectors.PRODUCER)
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assert vars(feedback) == before
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@pytest.mark.parametrize('fault', [fault for fault in vectors.NEGATIVES if fault not in ('long-cp', 'axis-unacknowledged')])
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def test_off_withdrawal_join_keeps_original_fault_source_identity_and_long_vetoes(fault, monkeypatch):
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original_sample = vectors.sample
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def withdrawing_sample(cp, source, observed, sequence, **kwargs):
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if source > vectors.NOW:
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kwargs.update(active=False, requested=False, allowed=False)
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sm, native = original_sample(cp, source, observed, sequence, **kwargs)
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if source > vectors.NOW:
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vectors.change(sm, 'aolAxisState', lambda axis: setattr(axis, 'nativeAcknowledged', False))
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return sm, native
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monkeypatch.setattr(vectors, 'sample', withdrawing_sample)
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vectors.test_reverse_join_never_bypasses_current_fault_source_identity_or_long_veto(fault)
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