mirror of
https://github.com/firestar5683/StarPilot.git
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Dom
64 lines
2.8 KiB
Python
64 lines
2.8 KiB
Python
"""Actual typed Params, Galaxy parked write, and startup configuration for pinion."""
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from pathlib import Path
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import tempfile
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import pytest
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from opendbc.car import gen_empty_fingerprint
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from opendbc.car.ford.pinion import KEY, GEOMETRY, configured
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from opendbc.car.ford.values import CAR
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from opendbc.car.ford.tests.test_three_ports import params as ford_params
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from openpilot.common.params import Params
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from openpilot.starpilot.galaxy.settings import AuthorityContext, SettingsGateway
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def test_real_galaxy_typed_parked_selection_and_stale_dependency():
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with tempfile.TemporaryDirectory() as directory:
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params = Params(directory)
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assert params.get_default_value(KEY) is False
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params.put_bool('SafeMode', False, block=True)
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params.put_bool('AlwaysOnLateral', False, block=True)
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cp = ford_params(CAR.FORD_EXPLORER_MK6)
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parked = True
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class TestContext:
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def sample(self) -> AuthorityContext:
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return AuthorityContext(parked, cp, cp.as_reader().as_builder().to_bytes())
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gateway = SettingsGateway(params, TestContext())
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try:
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page = gateway.page('torque', 'pinion-test', b'generation')
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index, row = next((i, row) for i, row in enumerate(page['rows']) if row['label'] == 'Use Pinion Yaw Sensor')
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assert row['choices'] == ['Off', 'On'] and row['available']
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intent = gateway.preview(page['view'], index, 0, 'pinion-test', b'generation', value='On')
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assert gateway.confirm(intent['intent'], 'pinion-test', b'generation')
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assert params.get(KEY) is True
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assert Path(params.get_param_path(KEY)).read_bytes() == b'1'
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assert not configured(cp) # Saved preference cannot mutate the current driving configuration.
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parked = False
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page = gateway.page('torque', 'pinion-test', b'generation')
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row = next(row for row in page['rows'] if row['label'] == 'Use Pinion Yaw Sensor')
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assert not row['available']
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finally:
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gateway.close()
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@pytest.mark.parametrize('identity', list(GEOMETRY))
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def test_actual_factory_applies_before_controller_and_published_cp(identity):
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from openpilot.starpilot.tests.test_vehicle_preferences import TestVehicleStartupPreferences
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helper = TestVehicleStartupPreferences()
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helper.setUp()
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try:
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helper.raw('SafeMode', b'0')
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helper.raw('AlwaysOnLateral', b'0')
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helper.params.put_bool('AlphaLongitudinalEnabled', False, block=True)
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helper.params.put_bool('IsReleaseBranch', False, block=True)
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fp = gen_empty_fingerprint()
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fp[0][0x5A] = 8
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fp[2].update({0x3D6: 8, 0x186: 8})
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host, constructed, published = helper.start(identity, key=KEY, requested=True, observed=fp,
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capture=lambda ci: configured(ci.CP))
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assert constructed == [True]
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assert configured(published)
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assert host.CI.CP.to_dict() == published.to_dict()
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finally:
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helper.doCleanups()
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