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https://github.com/firestar5683/StarPilot.git
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firestar5683
124 lines
6.4 KiB
Python
124 lines
6.4 KiB
Python
import unittest
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from opendbc.car import structs
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from openpilot.starpilot.aol.intent import AolSettings, AOL_TOGGLE
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from openpilot.starpilot.car.ford.aol import FordCardIntent
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class TestFordAolIntent(unittest.TestCase):
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def intent(self, lkas=0):
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return FordCardIntent(None, AolSettings(True, 0.0, lkas, 0, (0, 0, 0), (0, 0, 0)))
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def frame(self, intent, *, main, button=None, valid=True, gear=None, temporary=False, now=1):
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cs = structs.CarState(canValid=valid, steerFaultTemporary=temporary,
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gearShifter=gear or structs.CarState.GearShifter.drive)
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cs.cruiseState.available = main
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if button is not None:
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cs.buttonEvents = [structs.CarState.ButtonEvent(type=structs.CarState.ButtonEvent.Type.lkas, pressed=button)]
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intent.update(cs.as_reader(), now_ns=now)
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return cs
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def test_main_pulse_releases_before_tja_toggle(self):
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intent = self.intent()
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self.frame(intent, main=False)
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self.frame(intent, main=True, now=2)
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self.assertFalse(intent.allowed_latch) # Prior MAIN-off feedback still owns this frame.
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self.frame(intent, main=True, now=3)
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self.assertTrue(intent.allowed_latch)
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self.frame(intent, main=True, now=4)
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self.assertFalse(intent._main_held)
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self.frame(intent, main=True, button=True, now=5)
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self.assertFalse(intent.allowed_latch)
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self.frame(intent, main=True, button=False, now=6)
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self.frame(intent, main=True, button=True, now=7)
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self.assertTrue(intent.allowed_latch)
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def test_lkas_managed_with_main_already_on(self):
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intent = self.intent(AOL_TOGGLE)
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self.frame(intent, main=True)
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self.assertFalse(intent.allowed_latch)
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self.frame(intent, main=True, button=True, now=2)
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self.assertTrue(intent.allowed_latch)
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def test_temporary_state_retains_intent_but_rx_loss_does_not(self):
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intent = self.intent()
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self.frame(intent, main=False)
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self.frame(intent, main=True, now=2)
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self.frame(intent, main=True, now=3)
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reverse = self.frame(intent, main=True, gear=structs.CarState.GearShifter.reverse, now=4)
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self.assertTrue(intent.allowed_latch)
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self.assertFalse(intent.output(reverse.as_reader())[0])
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self.frame(intent, main=True, temporary=True, now=5)
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self.assertTrue(intent.allowed_latch)
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self.frame(intent, main=True, valid=False, now=6)
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self.assertFalse(intent.allowed_latch)
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self.frame(intent, main=True, now=7)
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self.assertFalse(intent.allowed_latch)
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def test_unassigned_cancel_preserves_but_never_arms_lateral(self):
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intent = self.intent(AOL_TOGGLE)
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state = self.frame(intent, main=True)
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state.buttonEvents = [structs.CarState.ButtonEvent(type=structs.CarState.ButtonEvent.Type.cancel, pressed=True)]
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intent.update(state.as_reader(), now_ns=2)
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self.assertFalse(intent.allowed_latch)
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self.frame(intent, main=True, button=True, now=3)
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self.assertTrue(intent.allowed_latch)
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intent.update(state.as_reader(), now_ns=4)
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self.assertTrue(intent.allowed_latch)
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intent.update(state.as_reader(), now_ns=5, native_rejection_ns=5)
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self.assertFalse(intent.allowed_latch)
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def test_configured_cancel_keeps_existing_lateral_withdrawal(self):
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from dataclasses import replace
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intent = self.intent(AOL_TOGGLE)
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intent.settings = replace(intent.settings, cancel_actions=(1, 0, 0))
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self.frame(intent, main=True)
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self.frame(intent, main=True, button=True, now=2)
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self.assertTrue(intent.allowed_latch)
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state = self.frame(intent, main=True, button=False, now=3)
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state.buttonEvents = [structs.CarState.ButtonEvent(type=structs.CarState.ButtonEvent.Type.cancel, pressed=True)]
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intent.update(state.as_reader(), now_ns=4)
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self.assertFalse(intent.allowed_latch)
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def test_cancel_exception_requires_current_granted_same_owner_lateral(self):
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from dataclasses import replace
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from opendbc.car.ford.values import CAR, FordFlags
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from openpilot.starpilot.aol.runtime import AxisDecision
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from openpilot.starpilot.aol.wire import IntentState, PandaSlot, SafetyState
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from openpilot.starpilot.car.ford.aol import physical_cancel_lateral_allowed
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now = 1_000_000_000
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cp = structs.CarParams(brand='ford', carFingerprint=CAR.FORD_MUSTANG_MACH_E_MK1,
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flags=int(FordFlags.CANFD), pcmCruise=True, openpilotLongitudinalControl=True,
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alternativeExperience=32, steerControlType=structs.CarParams.SteerControlType.angle,
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transmissionType=structs.CarParams.TransmissionType.automatic,
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safetyConfigs=[structs.CarParams.SafetyConfig(safetyModel=structs.CarParams.SafetyModel.ford, safetyParam=19)])
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state = structs.CarState(canValid=True, gearShifter=structs.CarState.GearShifter.drive,
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buttonEvents=[structs.CarState.ButtonEvent(type=structs.CarState.ButtonEvent.Type.cancel, pressed=True)])
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state.cruiseState.available = True
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settings = AolSettings(True, 0., AOL_TOGGLE, 0, (0, 0, 0), (0, 0, 0))
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intent = IntentState('card', 1, now, now, now + 200_000_000, True, False, False, True, True)
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previous = AxisDecision(True, True, True, True, True)
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slot = PandaSlot(0, 'panda', int(structs.CarParams.SafetyModel.ford), 19, 32, True, False)
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native = SafetyState(1, True, now, now + 200_000_000, slot.safetyModel, 19, True, False,
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True, True, 'panda', 'axis', now, (slot,))
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def allowed(**changes):
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args = {'settings': settings, 'previous': previous, 'source_ns': now, 'now_ns': now, 'axis_session_id': 'axis'}
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value = changes.pop('native', native)
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driver = changes.pop('intent', intent)
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args.update(changes)
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return physical_cancel_lateral_allowed(cp, state.as_reader(), driver, value, **args)
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self.assertTrue(allowed())
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for value in (None, replace(native, lateralAllowed=False), replace(native, compatible=False),
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replace(native, validUntilMonoTime=now - 1), replace(native, axisSessionId='other'),
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replace(native, safetyParam=147), replace(native, pandaSerial='other'),
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replace(native, pandaInventory=(replace(slot, faults=1),)),
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replace(native, pandaInventory=(replace(slot, heartbeatLost=True),)),
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replace(native, pandaInventory=(replace(slot, safetyRxChecksInvalid=True),))):
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with self.subTest(native=value):
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self.assertFalse(allowed(native=value))
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self.assertFalse(allowed(intent=replace(intent, allowedLatch=False)))
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self.assertFalse(allowed(previous=AxisDecision()))
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self.assertFalse(allowed(source_ns=now - 1))
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self.assertFalse(allowed(settings=replace(settings, cancel_actions=(1, 0, 0))))
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