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https://github.com/firestar5683/StarPilot.git
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firestar5683
99 lines
3.6 KiB
Python
99 lines
3.6 KiB
Python
import pytest
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from openpilot.starpilot.car.tesla.radar_settings import read_radar_settings
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@pytest.mark.parametrize("raw,valid", ((b"0", True), (b"-0.25", True), (b"nan", False), (b"inf", False),
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(b"1e300", False), (b"malformed", False)))
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def test_offset_is_finite_and_representable_in_startup_context(tmp_path, raw, valid):
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class Saved:
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def get_param_path(self, name):
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return str(tmp_path / name)
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(tmp_path / "NAPRadarEnabled").write_bytes(b"1")
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(tmp_path / "NAPRadarOffset").write_bytes(raw)
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settings = read_radar_settings(Saved())
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assert settings.valid == valid
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def test_nosecone_cannot_select_radar_without_radar_enabled(tmp_path):
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class Saved:
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def get_param_path(self, name):
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return str(tmp_path / name)
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(tmp_path / "NAPRadarBehindNosecone").write_bytes(b"1")
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assert not read_radar_settings(Saved()).valid
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@pytest.mark.parametrize("raw", (b"nan", b"1e300", b"malformed"))
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def test_disabled_stock_ignores_irrelevant_offset(tmp_path, raw):
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class Saved:
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def get_param_path(self, name):
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return str(tmp_path / name)
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(tmp_path / "NAPRadarOffset").write_bytes(raw)
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settings = read_radar_settings(Saved())
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assert settings.valid and not settings.enabled and settings.offset == 0.0
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def test_invalid_snapshot_cannot_fall_back_to_stock_even_if_admitted_flag_is_true():
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from opendbc.car import structs
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from opendbc.car.tesla.tests.test_preap_stock import params
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from openpilot.starpilot.car.tesla.preap_preferences import prepare_stock
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from openpilot.starpilot.car.tesla.radar_settings import RadarSettings
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cp = params()
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prepare_stock(cp, True, RadarSettings(False, False, 0.0, False))
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assert cp.dashcamOnly and cp.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.noOutput
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def test_startup_reads_one_radar_snapshot(monkeypatch, tmp_path):
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from openpilot.starpilot.vehicle_preferences import VehicleStartupPreferences
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from openpilot.starpilot.car.tesla import radar_settings
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from openpilot.starpilot.car.tesla.radar_settings import RadarSettings
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class Saved:
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def get_param_path(self, name):
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return str(tmp_path / name)
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calls = []
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def read_once(params):
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calls.append(params)
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assert len(calls) == 1
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return RadarSettings(False, False, 0.0, True)
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monkeypatch.setattr(radar_settings, "read_radar_settings", read_once)
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preferences = VehicleStartupPreferences.read(Saved(), enabled=False)
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assert preferences.tesla_preap_stock and len(calls) == 1
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def test_canonical_document_is_authoritative_over_legacy_hardware_choices(tmp_path):
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from openpilot.starpilot.car.tesla.radar_settings import DOCUMENT_KEY, encode
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class Saved:
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def get_param_path(self, name):
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return str(tmp_path / name)
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(tmp_path / "NAPRadarEnabled").write_bytes(b"1")
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(tmp_path / "NAPRadarBehindNosecone").write_bytes(b"1")
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(tmp_path / DOCUMENT_KEY).write_bytes(encode("off", 0.25))
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settings = read_radar_settings(Saved())
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assert settings.valid and not settings.enabled and settings.offset == 0.25
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(tmp_path / DOCUMENT_KEY).write_bytes(b"{invalid")
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assert not read_radar_settings(Saved()).valid
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@pytest.mark.parametrize('raw', (b'{"version":1,"mode":"front","mode":"off","offset":0}',
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b'{"version":1,"mode":"front","offset":0,"extra":1}',
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b'{"version":true,"mode":"front","offset":0}'))
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def test_unknown_or_ambiguous_document_does_not_admit_radar(tmp_path, raw):
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from openpilot.starpilot.car.tesla.radar_settings import DOCUMENT_KEY
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class Saved:
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def get_param_path(self, name):
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return str(tmp_path / name)
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(tmp_path / DOCUMENT_KEY).write_bytes(raw)
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assert not read_radar_settings(Saved()).valid
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