mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
79 lines
3.8 KiB
Python
79 lines
3.8 KiB
Python
"""Wheel bindings follow all CarParams values rather than Cap'n Proto allocation layout."""
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from collections import deque
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import pytest
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from opendbc.car import structs
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from opendbc.car.hyundai.values import CAR, HyundaiFlags
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from openpilot.cereal import messaging
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from openpilot.starpilot.controllers import wheel_actions
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from openpilot.starpilot.controllers.tests.test_native_wheel_callbacks import native_session # noqa: F401
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from openpilot.starpilot.controllers.tests.test_wheel_actions import DRIVE, NOW, Publisher, services
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def equivalent_params():
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original = structs.CarParams(brand='hyundai', carFingerprint=CAR.HYUNDAI_IONIQ_5_PE,
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flags=int(HyundaiFlags.CANFD | HyundaiFlags.EV), pcmCruise=True,
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steerControlType='angle', safetyConfigs=[{'safetyModel': 'hyundaiCanfd', 'safetyParam': 0x5491}])
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rebuilt = structs.CarParams.new_message(**original.as_reader().to_dict())
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assert original.as_reader().to_dict() == rebuilt.as_reader().to_dict()
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assert original.to_bytes() != rebuilt.to_bytes()
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return original, rebuilt
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def test_equivalent_serializations_keep_the_entire_vehicle_binding():
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original, rebuilt = equivalent_params()
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before = original.to_bytes(), rebuilt.to_bytes()
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assert wheel_actions.cp_fingerprint(original) == wheel_actions.cp_fingerprint(rebuilt.as_reader())
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assert before == (original.to_bytes(), rebuilt.to_bytes())
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@pytest.mark.parametrize('field,value', [('pcmCruise', False), ('openpilotLongitudinalControl', True),
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('flags', 0), ('alternativeExperience', 32), ('minSteerSpeed', 5.0),
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('carFingerprint', CAR.HYUNDAI_IONIQ_6)])
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def test_actual_configuration_changes_still_revoke_binding(field, value):
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original, changed = equivalent_params()
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setattr(changed, field, value)
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assert wheel_actions.cp_fingerprint(original) != wheel_actions.cp_fingerprint(changed)
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def test_nested_safety_changes_and_mutation_of_cached_object_revoke_binding():
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original, changed = equivalent_params()
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before = wheel_actions.cp_fingerprint(changed)
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changed.safetyConfigs[0].safetyParam ^= 1
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assert wheel_actions.cp_fingerprint(changed) != before
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assert wheel_actions.cp_fingerprint(changed) != wheel_actions.cp_fingerprint(original)
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def test_canonicalization_is_cached_by_full_bytes_with_a_bound():
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wheel_actions._cp_fingerprint.cache_clear()
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original, rebuilt = equivalent_params()
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for _ in range(100):
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wheel_actions.cp_fingerprint(original)
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wheel_actions.cp_fingerprint(rebuilt)
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info = wheel_actions._cp_fingerprint.cache_info()
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assert info.misses == 2 and info.hits == 198 and info.maxsize == 64
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for value in range(70):
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original.mass = value
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wheel_actions.cp_fingerprint(original)
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assert wheel_actions._cp_fingerprint.cache_info().currsize == 64
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@pytest.mark.parametrize('enabled', [False, True])
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def test_paddle_still_reaches_native_bookmark_after_card_materializes_defaults(native_session, monkeypatch, enabled): # noqa: F811
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runtime, session, ui, _, calls = native_session
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original, rebuilt = equivalent_params()
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ui.CP = original
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ui.params.put('LeftPaddleButtonControl', 8, block=True)
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ui.params.put_bool('NostalgiaMode', False, block=True)
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ui.sm = services(original)
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ui.sm['carControl'].enabled = enabled
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owner, sender = wheel_actions.WheelPublisher(), Publisher()
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for cp in (original, rebuilt):
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owner.publish((('LeftPaddleButtonControl', 8),), cp, sender, now_ns=NOW, drive_id=DRIVE,
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source_car_ns=NOW, source_control_ns=NOW)
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queue = deque(messaging.log_from_bytes(raw) for _, raw in sender.events)
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monkeypatch.setattr(runtime.messaging, 'recv_one_or_none', lambda _: queue.popleft() if queue else None)
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session._poll_wheel(NOW)
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assert calls == ['bookmark', 'bookmark']
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