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firestar5683
200632aabd
Learn bounded feed-forward corrections on eligible torque controllers behind Use StarPilot Auto Learn, preserving installed tunes and native safety limits. Co-authored-by: Danny <dannyirwin31@yahoo.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: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: haraschax <6804392+haraschax@users.noreply.github.com> Co-authored-by: pharmacomaniac <blittle65@gmail.com> Co-authored-by: whoisdomi <dcantu83@gmail.com>
61 lines
2.4 KiB
Python
61 lines
2.4 KiB
Python
"""Observer records the ordinary caller's existing admission without changing it."""
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import pytest
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from opendbc.car.hyundai.tests.test_ioniq5pe_stock import params
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from openpilot.cereal import messaging
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from openpilot.common.prefix import OpenpilotPrefix
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from openpilot.starpilot.aol.runtime import ordinary_axis_acknowledged
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from openpilot.starpilot.aol.wire import SAFETY_SERVICE, SafetyState, encode_safety
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@pytest.mark.parametrize('condition', ['valid', 'session', 'request', 'grant', 'missing', 'expired', 'observer_error'])
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def test_existing_ordinary_admission_observer_preserves_boolean_and_original_lease(condition):
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cp = params()
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now = 10_000_000_000
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with OpenpilotPrefix():
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sm = messaging.SubMaster(['aolAxisState', SAFETY_SERVICE])
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axis = messaging.new_message('aolAxisState', valid=True, logMonoTime=now)
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axis.aolAxisState.qualified = True
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axis.aolAxisState.sessionId = 'current'
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axis.aolAxisState.observedMonoTime = now
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axis.aolAxisState.validUntilMonoTime = now + 30_000_000
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axis.aolAxisState.desiredLateral = True
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axis.aolAxisState.lateralActive = True
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axis.aolAxisState.nativeAcknowledged = True
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native = messaging.new_message(SAFETY_SERVICE, 0, valid=True, logMonoTime=now)
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native.aolSafetyWire = encode_safety(
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SafetyState(
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1,
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True,
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now,
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now + 200_000_000,
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int(cp.safetyConfigs[0].safetyModel.raw),
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cp.safetyConfigs[0].safetyParam,
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condition != 'request',
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False,
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condition != 'grant',
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False,
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'actual-ordinary-fixture',
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'old' if condition == 'session' else 'current',
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)
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)
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sm.update_msgs(now / 1e9, [axis.as_reader(), native.as_reader()])
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if condition == 'missing':
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sm.valid[SAFETY_SERVICE] = False
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decision_ns = now + 200_000_001 if condition == 'expired' else now
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captured = []
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def observer(value):
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captured.append(value)
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if condition == 'observer_error':
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raise ValueError('metadata only')
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expected = condition in ('valid', 'observer_error')
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assert ordinary_axis_acknowledged(sm, cp, now_ns=decision_ns) == expected
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assert ordinary_axis_acknowledged(sm, cp, now_ns=decision_ns, on_validated_native=observer) == expected
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assert len(captured) == int(expected)
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if captured:
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assert captured[0].observedMonoTime == now
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assert captured[0].validUntilMonoTime == now + 200_000_000
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assert captured[0].axisSessionId == 'current'
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