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firestar5683
80fbb4f6db
Register vehicle controls, planner modes, UI actions and Galaxy services after their providers exist. Wire the shared runtime entrypoints and cover their combined behavior. 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: Kacper Rączy <gfw.kra@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> 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: haraschax <6804392+haraschax@users.noreply.github.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
42 lines
2.1 KiB
Python
42 lines
2.1 KiB
Python
import time
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from openpilot.cereal import messaging
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from openpilot.common.params import Params
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from openpilot.common.prefix import OpenpilotPrefix
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from openpilot.starpilot.controllers.wheel_actions import WheelConsumer, WheelPublisher
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from openpilot.starpilot.controllers.mode_actions import ModeActionPublisher, ModeActionOwner, publish_switchback, ModeIntent
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from openpilot.starpilot.controllers.tests.test_wheel_actions import candidate, services, DRIVE, NOW
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def test_actual_card_and_ui_publisher_coexist_and_modes_use_only_ui_channel():
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with OpenpilotPrefix():
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params = Params()
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_, cp = candidate(False)
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params.put('DistanceButtonControl', 8, block=True)
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card = messaging.PubMaster(['slcCruiseEvent'])
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ui = messaging.PubMaster(['slcAction'])
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ui_wheel = messaging.sub_sock('slcCruiseEvent', timeout=1000)
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planner_wheel = messaging.sub_sock('slcCruiseEvent', timeout=1000)
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planner_ui = messaging.sub_sock('slcAction', timeout=1000)
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time.sleep(0.05)
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producer = WheelPublisher(params)
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producer.publish((('DistanceButtonControl', 8),), cp, card, now_ns=NOW, drive_id=DRIVE,
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source_car_ns=NOW, source_control_ns=NOW)
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sm = services(cp)
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one = messaging.recv_one(ui_wheel)
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two = messaging.recv_one(planner_wheel)
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assert WheelConsumer().accept(one, params, cp, sm, now_ns=NOW).action == 8
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assert WheelConsumer().accept(two, params, cp, sm, now_ns=NOW).action == 8
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sm['selfdriveState'] = type('State', (), {'enabled': True})()
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status = publish_switchback(None, ModeIntent(DRIVE, False, False), session='a' * 32,
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sequence=1, now_ns=NOW, source_car_control_ns=NOW)
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sm['slcState'] = status.slcState
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for name in ('selfdriveState', 'slcState'):
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sm.logMonoTime[name], sm.recv_time[name] = NOW, NOW / 1e9
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sm.seen[name] = sm.alive[name] = sm.valid[name] = True
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request = ModeActionPublisher()
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assert request.dispatch('traffic', sm, cp, ui, now_ns=NOW)
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event = messaging.recv_one(planner_ui)
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assert str(event.slcAction.kind) == 'trafficModeToggle'
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assert ModeActionOwner().update(event, sm, cp, now_ns=NOW)
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