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https://github.com/firestar5683/StarPilot.git
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firestar5683
108 lines
5.4 KiB
Python
108 lines
5.4 KiB
Python
from dataclasses import replace
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from pathlib import Path
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from opendbc.car import gen_empty_fingerprint
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from opendbc.car.subaru.interface import CarInterface
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from opendbc.car.subaru.values import CAR
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from openpilot.common.params import Params
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from openpilot.starpilot.ui.feature_settings_owner import FeatureSettingsOwner
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from openpilot.starpilot.ui.feature_settings_state import row_change
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def test_stop_start_parked_row_confirmation_and_authority(tmp_path):
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params = Params(str(tmp_path))
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cp = CarInterface.get_params(CAR.SUBARU_LEGACY_2025, gen_empty_fingerprint(), [], False, False, False)
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permitted = [True]
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owner = FeatureSettingsOwner(params, lambda group: permitted[0], vehicle_fingerprint=lambda: cp.carFingerprint,
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vehicle_params=lambda: cp, configuration_vehicle=lambda: True)
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row = next(row for row in owner.snapshot('vehicle', parked=True, system_long=False, lateral_context=True, metric=True).rows
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if row.key == 'SubaruStopStartOff')
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assert row.available and row.value == 'Off'
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request = row_change(row)
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assert request is not None and not owner.apply(request)
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permitted[0] = False
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assert not owner.apply(replace(request, confirmation=True))
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permitted[0] = True
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assert owner.apply(replace(request, confirmation=True))
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assert params.get_bool('SubaruStopStartOff')
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assert not owner.apply(replace(request, confirmation=True))
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assert cp.safetyConfigs[0].safetyParam == 145 and not cp.openpilotLongitudinalControl
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def test_only_supported_identity_and_exact_saved_boolean_startup(tmp_path):
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from openpilot.starpilot.vehicle_preferences import VehicleStartupPreferences
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from opendbc.car.subaru.startup import selected
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params = Params(str(tmp_path))
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for raw, safe, expected in ((None, b'0', False), (b'0', b'0', False), (b'1', b'0', True),
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(b'true', b'0', False), (b'1', b'1', False), (b'1', b'invalid', False)):
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if raw is None:
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params.remove('SubaruStopStartOff')
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else:
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Path(params.get_param_path('SubaruStopStartOff')).write_bytes(raw)
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Path(params.get_param_path('SafeMode')).write_bytes(safe)
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choice = VehicleStartupPreferences.read(params, enabled=True)
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assert choice.subaru_stop_start_off == expected
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assert not VehicleStartupPreferences.read(params, enabled=False).subaru_stop_start_off
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for car in CAR:
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cp = CarInterface.get_params(car, gen_empty_fingerprint(), [], True, False, False)
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before = cp.to_dict()
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choice.prepare(cp)
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assert selected(cp) == (expected and car in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_OUTBACK_2023))
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assert not cp.openpilotLongitudinalControl and not cp.alphaLongitudinalAvailable
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if car not in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_OUTBACK_2023) or not expected:
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assert cp.to_dict() == before
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def test_raw_sources_keep_original_clock_duplicate_does_not_renew():
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from opendbc.can import CANPacker
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from opendbc.car.subaru.startup import StartupSources, checksum
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packer = CANPacker('subaru_global_2017_generated')
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source = StartupSources()
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for tick in (1, 2):
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inputs: tuple[tuple[str, int, dict[str, float]], ...] = (
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('Dashlights', 1, {'COUNTER': tick}), ('Transmission', 0, {'COUNTER': tick, 'Gear': 4}),
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('Engine_Stop_Start', 1, {'Counter': tick, 'STOP_START_STATE': 1}), ('ES_Distance', 1, {'COUNTER': tick}))
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frames = [packer.make_can_msg(name, bus, fields) for name, bus, fields in inputs]
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source.observe([(10_000_000_000 + tick * 10_000_000, frames)],
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boot_ns=10_000_000_000 + tick * 10_000_000, mono_ns=1_000_000_000 + tick * 10_000_000)
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assert source.fresh(1.02)
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original = dict(source.frames)
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source.observe([(10_100_000_000, frames)], boot_ns=10_100_000_000, mono_ns=1_100_000_000)
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assert source.frames == original and not source.fresh(1.321)
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address, raw, bus = frames[0]
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changed = bytearray(raw)
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changed[7] ^= 1
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changed[0] = checksum(address, changed)
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source.observe([(10_110_000_000, [(address, bytes(changed), bus)])], boot_ns=10_110_000_000, mono_ns=1_110_000_000)
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assert address not in source.frames and not source.fresh(1.11)
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def test_manual_press_and_fault_stop_startup_even_before_delay():
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from opendbc.can import CANPacker
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from opendbc.car.subaru.startup import StartupSources, StopStartRequest
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from opendbc.car import structs
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from types import SimpleNamespace
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packer = CANPacker('subaru_global_2017_generated')
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cases: tuple[tuple[str, int, dict[str, float]], ...] = (('Dashlights', 1, {'STOP_START': 1}),
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('Engine_Stop_Start', 1, {'STOP_START_STATE': 3}), ('ES_Distance', 1, {'Cruise_Fault': 1}))
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for name, bus, fields in cases:
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source = StartupSources()
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source.observe([(1_000_000_000, [packer.make_can_msg(name, bus, fields)])], boot_ns=1_000_000_000, mono_ns=1_000_000_000)
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assert source.blocked
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owner = StopStartRequest()
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state = SimpleNamespace(startup_sources=source, out=structs.CarState(standstill=True))
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assert owner.update(structs.CarControl(), state, 1.0) is None and owner.done
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def test_configured_dwell_restarts_on_gap_and_never_retries_started_pulse():
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from opendbc.car.subaru.startup import StopStartRequest
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owner = StopStartRequest()
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owner.observe_configured(True, 1.0)
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owner.observe_configured(True, 1.1)
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assert owner.configured_since == 1.0
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owner.observe_configured(True, 1.3)
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assert owner.configured_since == 1.3
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owner.pulse_start = 1.4
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owner.observe_configured(False, 1.45)
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owner.observe_configured(True, 1.5)
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assert owner.done
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