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https://github.com/firestar5683/StarPilot.git
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firestar5683
83 lines
3.4 KiB
Python
83 lines
3.4 KiB
Python
from dataclasses import replace
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import hashlib
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import math
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import pytest
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from opendbc.car import structs
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from opendbc.car.tesla.preap.radar_profile import RadarStartupContext
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from opendbc.car.tesla.tests.test_preap_radar import radar_params
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from opendbc.car.tesla.radar_interface import RadarInterface
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from openpilot.starpilot.car.tesla.radar_context import SCHEMA, encode_context, decode_context, install_startup_context
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from openpilot.starpilot.car.tesla.radar_settings import RadarSettings
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def context(cp, offset=0.25):
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raw = cp.to_bytes()
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return raw, RadarStartupContext(1, int(cp.safetyConfigs[0].safetyParam), hashlib.sha256(raw).digest(), offset)
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@pytest.mark.parametrize('mount', (False, True))
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def test_final_serialized_cp_context_and_reader_lifetime(mount):
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cp = radar_params(mount=mount)
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raw, frozen = context(cp)
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wire = encode_context(cp, raw, frozen)
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with structs.CarParams.from_bytes(raw) as published:
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decoded = decode_context(published, raw, wire)
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ri = RadarInterface(published)
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ri.configure_preap_radar(decoded, raw)
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assert decoded == frozen and ri.preap.radar_offset == 0.25
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assert not ri.preap.radar_off_can
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@pytest.mark.parametrize('field,value', (('version', 2), ('kind', 3), ('safetyModel', 10), ('safetyParam', 6),
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('carParamsSha256', bytes(32)), ('lateralOffset', math.nan),
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('lateralOffset', math.inf)))
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def test_unknown_or_mismatched_wire_cannot_configure_decoder(field, value):
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cp = radar_params()
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raw, frozen = context(cp)
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message = SCHEMA.new_message(version=1, kind=4, safetyModel=39, safetyParam=2,
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carParamsSha256=frozen.car_params_sha256, lateralOffset=frozen.offset)
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setattr(message, field, value)
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assert decode_context(cp, raw, message.to_bytes()) is None
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def test_missing_truncated_multisegment_or_mutated_cp_context_denies():
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cp = radar_params()
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raw, frozen = context(cp)
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wire = encode_context(cp, raw, frozen)
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for damaged in (None, b'', wire[:-8], wire + bytes(8), bytes([1]) + wire[1:], memoryview(wire)):
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assert decode_context(cp, raw, damaged) is None
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cp.carVin = '1' * 17
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assert decode_context(cp, raw, wire) is None
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with pytest.raises(ValueError):
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RadarInterface(cp).configure_preap_radar(frozen, raw)
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def test_missing_context_reports_errors_and_never_decodes_tracks():
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ri = RadarInterface(radar_params())
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results = [ri.update([]) for _ in range(5)]
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assert results[-1] is not None and not results[-1].points
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assert results[-1].errors.canError and results[-1].errors.radarUnavailableTemporary
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def test_immutable_startup_settings_install_and_mismatched_mount_denial():
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cp = radar_params()
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raw, _ = context(cp)
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ri = RadarInterface(cp)
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settings = RadarSettings(True, False, 0.25, True)
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frozen = install_startup_context(ri, cp, raw, settings)
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assert frozen.offset == ri.preap.radar_offset == 0.25
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with pytest.raises(ValueError):
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install_startup_context(ri, cp, raw, replace(settings, behind_nosecone=True))
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assert ri.preap.radar_offset == 0.25
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def test_radar_native_receipt_requires_same_cp_namespace_and_word():
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from openpilot.starpilot.car.tesla.aol import native_accepts_cp
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cp = radar_params()
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cp.alternativeExperience = 32
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assert native_accepts_cp(cp, 39, 2)
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for model, word in ((39, 0), (39, 6), (10, 512), (10, 1536), (35, 2)):
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assert not native_accepts_cp(cp, model, word)
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