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firestar5683
a82935f326
Integrate onroad views, configurable widgets, local settings, steering-profile contracts, Bluetooth and Android Auto with their device and runtime services. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: DimitriChrysafis <Dimitri.chrysafis@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: stef <19478336+stefpi@users.noreply.github.com> Co-authored-by: whoisdomi <dcantu83@gmail.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: pharmacomaniac <blittle65@gmail.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
56 lines
2.6 KiB
Python
56 lines
2.6 KiB
Python
"""GM Traffic startup remains independent of the Ioniq controller owner."""
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from unittest.mock import Mock, patch
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from opendbc.car.gm.tests.test_bolt_pedal import params as pedal_params
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from opendbc.car.gm.values import CAR
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from openpilot.common.params import Params
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from openpilot.selfdrive.controls import plannerd
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from openpilot.starpilot.conditional_mode.runtime_settings import ConditionalSettingsOwner
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from openpilot.starpilot.longitudinal.tests.test_conditional_handoff import Frame, NOW, DRIVE
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def test_gm_traffic_actual_planner_loop_uses_independent_settings_without_conditional_host(tmp_path):
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params = Params(str(tmp_path))
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cp = pedal_params(CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, setting=True, pedal=True)
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params.put('CarParams', cp.to_bytes(), block=True)
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params.put('DistanceButtonControl', 6, block=True)
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sm = Frame()
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sm.updated = dict.fromkeys(sm, True)
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sm.update = Mock()
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sm['deviceState'].startedMonoTime = DRIVE
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called = []
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sample = plannerd.TrafficOwner.sample
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class EndFrame(Exception):
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pass
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def observe(owner, event, **kwargs):
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assert isinstance(kwargs['settings'], ConditionalSettingsOwner)
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assert kwargs['cp'].brand == 'gm' and kwargs['drive_id'] == DRIVE
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assert kwargs['controller_toggle'] is False
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verdict = sample(owner, event, **kwargs)
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assert not verdict.requested and verdict.effective is not True
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called.append(verdict)
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raise EndFrame
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with (patch.object(plannerd, 'Params', return_value=params),
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patch.object(plannerd, 'config_realtime_process'),
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patch.object(plannerd, 'feature_enabled', return_value=False),
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patch.object(plannerd, 'feature_requested', side_effect=lambda p, feature: feature == 'conditional'),
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patch.object(plannerd, 'ConditionalPlannerHost') as conditional,
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patch.object(plannerd, 'ModeActionOwner') as controller,
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patch.object(plannerd, 'paired_clocks_ns', return_value=(NOW, NOW + 2_000_000_000, 0)),
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patch.object(plannerd.time, 'monotonic_ns', return_value=NOW),
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patch.object(plannerd.messaging, 'sub_sock'),
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patch.object(plannerd.messaging, 'recv_one_or_none', return_value=None),
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patch.object(plannerd.messaging, 'SubMaster', return_value=sm),
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patch.object(plannerd.messaging, 'PubMaster'),
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patch.object(plannerd.TrafficOwner, 'sample', observe),
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patch.dict('os.environ', {}, clear=True)):
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try:
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plannerd.starpilot_main()
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except EndFrame:
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pass
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else:
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raise AssertionError('GM Traffic loop did not sample')
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conditional.assert_not_called()
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controller.assert_called_once_with()
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assert len(called) == 1
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