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https://github.com/firestar5683/StarPilot.git
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firestar5683
119 lines
5.8 KiB
Python
119 lines
5.8 KiB
Python
"""One typed Ford choice through the real Galaxy shared settings owner."""
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from pathlib import Path
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import tempfile
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import unittest
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from openpilot.common.params import Params
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from openpilot.starpilot.galaxy.settings import AuthorityContext, SettingsChanged, SettingsGateway
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from openpilot.starpilot.ui.feature_settings_owner import FeatureSettingsOwner
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from opendbc.car.ford.tests.test_three_ports import params as ford_params
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from opendbc.car.ford.values import CAR
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from opendbc.bluepilot_lateral.hosts.starpilot import CLASSIC, CANFD, select
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class FordContext:
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def __init__(self, owner):
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self.owner = owner
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def sample(self) -> AuthorityContext:
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return AuthorityContext(self.owner.parked, self.owner.cp, self.owner.cp.as_reader().as_builder().to_bytes())
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class TestFordAngleSettings(unittest.TestCase):
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def setUp(self):
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temporary = tempfile.TemporaryDirectory()
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self.addCleanup(temporary.cleanup)
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self.params = Params(temporary.name)
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self.params.put_bool("SafeMode", False, block=True)
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self.params.put_bool("AlwaysOnLateral", False, block=True)
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self.cp = ford_params(CAR.FORD_BRONCO_SPORT_MK1)
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self.parked = True
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self.context = FordContext(self)
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self.gateway = SettingsGateway(self.params, self.context)
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self.addCleanup(self.gateway.close)
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def page(self):
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return self.gateway.page("torque", "ford-session", b"ford-generation")
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def row(self, page):
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rows = [(i, r) for i, r in enumerate(page["rows"]) if r["label"] == "Ford steering controller"]
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self.assertEqual(len(rows), 1)
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return rows[0]
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def choose(self, label):
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page = self.page()
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index, row = self.row(page)
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self.assertTrue(row["available"])
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intent = self.gateway.preview(page["view"], index, 0, "ford-session", b"ford-generation", value=label)
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return self.gateway.confirm(intent["intent"], "ford-session", b"ford-generation")
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def test_actual_final_profiles_one_dropdown_and_typed_explicit_persistence(self):
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for identity in sorted(CLASSIC | CANFD):
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for already_selected in (False, True):
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self.cp = ford_params(identity)
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if already_selected:
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self.assertTrue(select(self.cp, 1))
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page = self.page()
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_, row = self.row(page)
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self.assertEqual(row["choices"], ["Current curvature", "BluePilot angle"])
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self.choose("BluePilot angle")
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self.assertEqual(self.params.get("FordLateralMode"), 1)
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self.assertEqual(Path(self.params.get_param_path("FordLateralMode")).read_bytes(), b"1")
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self.choose("Current curvature")
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self.assertEqual(self.params.get("FordLateralMode"), 0)
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owner = FeatureSettingsOwner(self.params, lambda _: True, vehicle_fingerprint=lambda: self.cp.carFingerprint,
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vehicle_params=lambda: self.cp)
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rows = owner.snapshot("torque", parked=True, system_long=False, lateral_context=True, metric=False).rows
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self.assertEqual(sum(r.key == "FordLateralMode" for r in rows), 1)
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def test_excluded_or_modified_final_capability_has_no_angle_row(self):
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for identity in (CAR.FORD_EDGE_MK2, CAR.FORD_MONDEO_MK5, CAR.FORD_TRANSIT_MK5):
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self.cp = ford_params(identity)
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self.assertFalse(any(r["label"] == "Ford steering controller" for r in self.page()["rows"]))
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for field, value in (("alternativeExperience", 16), ("passive", True), ("dashcamOnly", True), ("notCar", True)):
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self.cp = ford_params(CAR.FORD_BRONCO_SPORT_MK1)
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setattr(self.cp, field, value)
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self.assertFalse(any(r["label"] == "Ford steering controller" for r in self.page()["rows"]))
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self.cp = ford_params(CAR.FORD_BRONCO_SPORT_MK1)
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self.cp.safetyConfigs[-1].safetyParam = 0
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self.assertFalse(any(r["label"] == "Ford steering controller" for r in self.page()["rows"]))
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def test_stale_expected_dependency_vehicle_and_parked_changes_deny_commit(self):
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for change in ("saved", "safe", "aol", "vehicle", "parked"):
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self.cp = ford_params(CAR.FORD_BRONCO_SPORT_MK1)
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self.parked = True
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self.params.put("FordLateralMode", 0, block=True)
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self.params.put_bool("SafeMode", False, block=True)
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self.params.put_bool("AlwaysOnLateral", False, block=True)
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page = self.page()
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index, _ = self.row(page)
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intent = self.gateway.preview(page["view"], index, 0, "ford-session", b"ford-generation", value="BluePilot angle")
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if change == "saved":
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Path(self.params.get_param_path("FordLateralMode")).write_bytes(b"invalid")
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elif change in ("safe", "aol"):
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self.params.put_bool("SafeMode" if change == "safe" else "AlwaysOnLateral", True, block=True)
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elif change == "vehicle":
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self.cp.safetyConfigs[-1].safetyParam = 128
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else:
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self.parked = False
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if change == "vehicle":
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with self.assertRaises(SettingsChanged):
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self.gateway.confirm(intent["intent"], "ford-session", b"ford-generation")
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else:
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self.assertFalse(self.gateway.confirm(intent["intent"], "ford-session", b"ford-generation"))
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self.assertEqual(Path(self.params.get_param_path("FordLateralMode")).read_bytes(), b"invalid" if change == "saved" else b"0")
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with self.assertRaises(SettingsChanged):
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self.gateway.confirm(intent["intent"], "ford-session", b"ford-generation")
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def test_invalid_saved_choice_can_only_repair_to_current_curvature(self):
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path = Path(self.params.get_param_path("FordLateralMode"))
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path.write_bytes(b"2")
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page = self.page()
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index, row = self.row(page)
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self.assertEqual(row["value"], "Invalid saved choice")
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with self.assertRaises(SettingsChanged):
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self.gateway.preview(page["view"], index, 0, "ford-session", b"ford-generation", value="BluePilot angle")
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intent = self.gateway.preview(page["view"], index, 0, "ford-session", b"ford-generation", reset_default=True)
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self.gateway.confirm(intent["intent"], "ford-session", b"ford-generation")
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self.assertEqual(path.read_bytes(), b"0")
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