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https://github.com/firestar5683/StarPilot.git
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firestar5683
6c32c9fff2
Resolve startup preferences and controller extensions through capability-aware vehicle owners.
31 lines
1.3 KiB
Python
31 lines
1.3 KiB
Python
"""Requested GV70 takeover fallback keeps stock Cancel and Resume distinct."""
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import unittest
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from opendbc.car import structs
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from opendbc.car.hyundai.values import CAR
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from openpilot.starpilot.tests import test_ev6_startup as fixture
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class TestGV70FallbackCancel(unittest.TestCase):
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def test_actual_startup_fallback_suppresses_cancel_but_preserves_resume(self):
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for mode, capture in (("restored", True), ("sent", False)):
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ci, holder, _ = fixture.TestEV6Startup("runTest").exercise(
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mode, capture=capture, car=CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN)
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self.assertFalse(ci.CP.openpilotLongitudinalControl)
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self.assertTrue(ci.CC.gv70_stock_fallback)
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command = structs.CarControl()
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command.cruiseControl.cancel = True
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cancels = []
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for tick in range(60):
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_, frames = ci.apply(command.as_reader(), (tick+1)*10_000_000)
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cancels.extend(frame for frame in frames if frame[0] == 0x1cf)
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self.assertEqual(cancels, [])
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command.cruiseControl.cancel = False
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command.cruiseControl.resume = True
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resumes = []
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for tick in range(60, 120):
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_, frames = ci.apply(command.as_reader(), (tick+1)*10_000_000)
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resumes.extend(frame for frame in frames if frame[0] == 0x1cf)
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self.assertTrue(resumes)
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self.assertTrue(holder.owner.ready)
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