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https://github.com/firestar5683/StarPilot.git
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firestar5683
51 lines
2.4 KiB
Python
51 lines
2.4 KiB
Python
from dataclasses import replace
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from opendbc.car import gen_empty_fingerprint, structs
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from opendbc.car.ford.interface import CarInterface
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from opendbc.car.ford.values import CAR
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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.transport_pause import TransportPauseFeedback
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from openpilot.starpilot.tests.test_ford_reverse_intent import NOW, PRODUCER, change, native_change, sample
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def receipt(cp, source, observed, sequence, *, combined=False, gas=False, reverse=False):
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sm, native = sample(cp, source, observed, sequence, allowed=not reverse)
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controls = bool(combined or gas)
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native = native_change(
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sm,
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native,
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requestedLongitudinal=combined or gas,
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longitudinalAllowed=combined,
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pandaInventory=(replace(native.pandaInventory[0], controlsAllowed=controls),),
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)
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change(sm, 'pandaStates', lambda ps: setattr(ps[0], 'controlsAllowed', controls))
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change(sm, 'aolAxisState', lambda a: setattr(a, 'mode', 'combined' if combined else 'lateralOnly'))
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change(sm, 'aolAxisState', lambda a: setattr(a, 'desiredLongitudinal', combined or gas))
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change(sm, 'aolAxisState', lambda a: setattr(a, 'longitudinalActive', combined))
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if combined or gas:
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events = messaging.new_message('onroadEvents', int(gas), valid=True, logMonoTime=NOW + 10_000_000 if gas else NOW)
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if gas:
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events.onroadEvents[0].name = 'gasPressedOverride'
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events.onroadEvents[0].overrideLongitudinal = True
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sm.messages['onroadEvents'] = events.as_reader()
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sm.logMonoTime['onroadEvents'] = int(events.logMonoTime)
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change(sm, 'aolAxisState', lambda a: setattr(a, 'faultEventMonoTime', int(events.logMonoTime)))
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return sm, native
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def baseline(*, combined):
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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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with OpenpilotPrefix():
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cp = CarInterface.get_params(CAR.FORD_MONDEO_MK5, fp, [], True, False, False)
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cp.alternativeExperience = 32
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assert cp.openpilotLongitudinalControl and cp.safetyConfigs[0].safetyParam == 11
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cs = structs.CarState(canValid=True, gearShifter=structs.CarState.GearShifter.drive)
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cs.cruiseState.available, cs.cruiseState.enabled = True, combined
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f = TransportPauseFeedback(cp)
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sm, _ = receipt(cp, NOW, NOW, 1, combined=combined)
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assert not f.observe(sm, cp, cs, NOW, latched=True, intent_producer_session=PRODUCER)
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return cp, cs, f
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