mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
184 lines
8.0 KiB
Python
184 lines
8.0 KiB
Python
"""Generic lane preferences reach each native controller without granting an axis."""
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import os
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from unittest import mock
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import pytest
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from opendbc.car import gen_empty_fingerprint
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from opendbc.car.car_helpers import interfaces
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from opendbc.car.ford.values import CAR as FORD
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from opendbc.car.honda.values import CAR as HONDA
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from opendbc.car.mazda.values import CAR as MAZDA
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from opendbc.car.nissan.values import CAR as NISSAN
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from opendbc.car.subaru.values import CAR as SUBARU
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from opendbc.car.toyota.values import CAR as TOYOTA
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from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
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from opendbc.car.volkswagen.values import NetworkLocation
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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.selfdrive.controls.controlsd import Controls
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from openpilot.starpilot.feature_capabilities import lateral_supported
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from openpilot.starpilot.lateral.lane_runtime import runtime_supported
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from openpilot.starpilot.lateral.tests.test_lane_runtime import feed, publish_corolla_params
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GENERIC_STEERING = (
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HONDA.HONDA_CIVIC,
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MAZDA.MAZDA_CX5_2022,
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SUBARU.SUBARU_IMPREZA,
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FORD.FORD_ESCAPE_MK4,
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NISSAN.NISSAN_XTRAIL,
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VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7,
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VOLKSWAGEN.VOLKSWAGEN_ID4_MK1,
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)
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def native_steering_params(identity):
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if identity == VOLKSWAGEN.VOLKSWAGEN_ID4_MK1:
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fingerprint = gen_empty_fingerprint()
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fingerprint[1][0x13D] = 32 # QFK_01 on the gateway side, as in the native MEB interface tests.
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cp = interfaces[identity].get_params(identity, fingerprint, [], False, False, False)
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assert cp.networkLocation == NetworkLocation.gateway
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assert not cp.dashcamOnly
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return cp
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return interfaces[identity].get_non_essential_params(identity)
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@pytest.mark.parametrize('identity', GENERIC_STEERING)
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def test_actual_controller_paths_admit_generic_lane_host_and_keep_original_output_when_off(identity):
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with OpenpilotPrefix(), mock.patch.dict(os.environ, {'SIMULATION': '1', 'REPLAY': '1',
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'LANE_CENTERING_REPLAY_RUNTIME': '0', 'AOL_REPLAY_RUNTIME': '0'}), \
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mock.patch('openpilot.selfdrive.controls.controlsd.messaging.PubMaster'):
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params = Params()
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cp = native_steering_params(identity)
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assert lateral_supported(cp)
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params.put('CarParams', cp.to_bytes(), block=True)
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candidate, reference = Controls(), Controls()
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assert candidate.lane_centering_host is not None
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reference.lane_centering_host = None
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for tick in range(20):
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now = 1_000_000_000 + tick * 10_000_000
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feed(candidate, now, tick)
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feed(reference, now, tick)
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actual, _ = candidate.state_control()
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expected, _ = reference.state_control()
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assert actual.to_dict() == expected.to_dict()
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@pytest.mark.parametrize('identity', GENERIC_STEERING)
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def test_actual_controller_paths_apply_generic_lane_curvature_then_withdraw_for_fault(identity):
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with OpenpilotPrefix(), mock.patch.dict(os.environ, {'SIMULATION': '1', 'REPLAY': '1',
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'LANE_CENTERING_REPLAY_RUNTIME': '0', 'AOL_REPLAY_RUNTIME': '0'}), \
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mock.patch('openpilot.selfdrive.controls.controlsd.messaging.PubMaster'):
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params = Params()
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cp = native_steering_params(identity)
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params.put('CarParams', cp.to_bytes(), block=True)
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params.put_bool('LaneCentering', True, block=True)
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params.put('LaneCenteringE2EAuthority', 0., block=True)
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params.put('LaneCenterOffset', .2, block=True)
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controls = Controls()
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assert controls.lane_centering_host is not None
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for tick in range(60):
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now = 2_000_000_000 + tick * 10_000_000
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feed(controls, now, tick)
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command, _ = controls.state_control()
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assert command.latActive
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assert controls.last_lane_centering_result.correction > 0.
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assert controls.lane_centering_applied > 0.
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for tick in range(60, 65):
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now = 2_000_000_000 + tick * 10_000_000
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feed(controls, now, tick, fault=True)
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command, _ = controls.state_control()
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assert not command.latActive
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assert controls.lane_centering_applied == 0.
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def test_toyota_full_card_startup_admits_normal_lane_host_without_replay_opt_in():
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with OpenpilotPrefix(), mock.patch.dict(os.environ, {'SIMULATION': '1', 'REPLAY': '1',
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'LANE_CENTERING_REPLAY_RUNTIME': '0', 'AOL_REPLAY_RUNTIME': '0'}), \
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mock.patch('openpilot.selfdrive.controls.controlsd.messaging.PubMaster'):
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params = Params()
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cp = publish_corolla_params(params)
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assert lateral_supported(cp)
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params.put('CarParams', cp.to_bytes(), block=True)
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controls = Controls()
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assert controls.lane_centering_host is not None
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@pytest.mark.parametrize('identity', GENERIC_STEERING)
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def test_actual_controller_paths_track_one_current_line_and_withdraw_for_fault(identity):
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from openpilot.starpilot.lateral.tests.test_lane_centering import single
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with OpenpilotPrefix(), mock.patch.dict(os.environ, {'SIMULATION': '1', 'REPLAY': '1',
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'LANE_CENTERING_REPLAY_RUNTIME': '0', 'AOL_REPLAY_RUNTIME': '0'}), \
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mock.patch('openpilot.selfdrive.controls.controlsd.messaging.PubMaster'):
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params = Params()
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cp = native_steering_params(identity)
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params.put('CarParams', cp.to_bytes(), block=True)
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params.put_bool('LaneCentering', True, block=True)
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params.put('LaneCenteringE2EAuthority', 0., block=True)
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controls = Controls()
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for tick in range(20):
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feed(controls, 2_000_000_000 + tick * 10_000_000, tick)
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controls.state_control()
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with mock.patch('openpilot.starpilot.lateral.tests.test_lane_runtime.model',
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side_effect=lambda:single(line=-1.2, edge=10.)):
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for tick in range(20, 90):
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feed(controls, 2_000_000_000 + tick * 10_000_000, tick)
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command, _ = controls.state_control()
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assert command.latActive
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assert controls.last_lane_centering_result.correction > 0.
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assert controls.lane_centering_applied > 0.
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feed(controls, 2_900_000_000, 90, fault=True)
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command, _ = controls.state_control()
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assert not command.latActive
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assert controls.lane_centering_applied == 0.
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def test_actual_secoc_configuration_requires_its_key_without_affecting_nonsecoc():
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cp = interfaces[TOYOTA.TOYOTA_SIENNA_4TH_GEN].get_non_essential_params(TOYOTA.TOYOTA_SIENNA_4TH_GEN)
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assert cp.secOcRequired and not cp.secOcKeyAvailable
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assert not lateral_supported(cp)
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cp.secOcKeyAvailable = True
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assert lateral_supported(cp)
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cp.dashcamOnly = True
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assert not lateral_supported(cp)
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def test_generic_native_configuration_and_replay_opt_in_are_distinct():
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with mock.patch.dict(os.environ, {'LANE_CENTERING_REPLAY_RUNTIME': '0'}):
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assert not runtime_supported(None)
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cp = interfaces[TOYOTA.TOYOTA_RAV4_TSS2].get_non_essential_params(TOYOTA.TOYOTA_RAV4_TSS2)
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assert runtime_supported(cp)
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for flag in ('notCar', 'dashcamOnly', 'passive'):
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bad = cp.as_reader().as_builder()
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setattr(bad, flag, True)
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assert not runtime_supported(bad)
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for safety_model in ('noOutput', 'silent', 'allOutput'):
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bad = cp.as_reader().as_builder()
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bad.safetyConfigs[0].safetyModel = safety_model
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assert not runtime_supported(bad)
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bad = cp.as_reader().as_builder()
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bad.safetyConfigs = []
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assert not runtime_supported(bad)
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with mock.patch.dict(os.environ, {'LANE_CENTERING_REPLAY_RUNTIME': '1'}):
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assert runtime_supported(None)
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@pytest.mark.parametrize('identity', (MAZDA.MAZDA_CX5, VOLKSWAGEN.VOLKSWAGEN_ID4_MK1))
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def test_actual_dashcam_configurations_never_create_lane_host(identity):
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with OpenpilotPrefix(), mock.patch.dict(os.environ, {'SIMULATION': '1', 'REPLAY': '1',
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'LANE_CENTERING_REPLAY_RUNTIME': '0', 'AOL_REPLAY_RUNTIME': '0'}), \
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mock.patch('openpilot.selfdrive.controls.controlsd.messaging.PubMaster'):
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params = Params()
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# The original empty-fingerprint configurations are real dashcam paths.
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cp = interfaces[identity].get_non_essential_params(identity)
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assert cp.dashcamOnly
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assert not lateral_supported(cp)
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assert not runtime_supported(cp)
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params.put('CarParams', cp.to_bytes(), block=True)
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params.put_bool('LaneCentering', True, block=True)
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controls = Controls()
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assert controls.CP.dashcamOnly
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assert controls.lane_centering_host is None
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