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https://github.com/firestar5683/StarPilot.git
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firestar5683
4dd0036141
Keep existing ordinary controls under the normal soft-disable countdown when current vehicle data and native permissions remain healthy. Preserve original command deadlines and qualify retained steering intent against completed publication provenance.
82 lines
4.2 KiB
Python
82 lines
4.2 KiB
Python
from types import SimpleNamespace
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from unittest import mock
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import pytest
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from opendbc.car import structs
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from openpilot.starpilot.controllers import wheel_actions
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@pytest.mark.parametrize('reason', ('passive', 'not_car', 'dashcam', 'invalid_can', 'can_timeout', 'drive_zero'))
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def test_rejected_source_does_not_read_assignment_files(reason):
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owner = wheel_actions.WheelPublisher()
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cp = SimpleNamespace(notCar=reason == 'not_car', passive=reason == 'passive',
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dashcamOnly=reason == 'dashcam', carFingerprint='HYUNDAI IONIQ 6 2023')
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state = structs.CarState(canValid=reason != 'invalid_can', canTimeout=reason == 'can_timeout')
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drive = 0 if reason == 'drive_zero' else 1
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with mock.patch.object(wheel_actions, 'capture', side_effect=AssertionError('rejected source entered filesystem')) as reads:
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assert owner.observe(object(), cp, state, now_ns=10, drive_id=drive) == ()
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reads.assert_not_called()
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assert owner.mapping is None and owner.checked_ns == 10
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assert owner.tracker.distance_held is False
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def test_eligible_source_still_reads_and_failed_read_denies():
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owner = wheel_actions.WheelPublisher()
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cp = SimpleNamespace(notCar=False, passive=False, dashcamOnly=False, carFingerprint='HYUNDAI IONIQ 6 2023')
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with mock.patch.object(wheel_actions, 'capture', return_value=None) as reads:
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assert owner.observe(object(), cp, structs.CarState(canValid=True), now_ns=10, drive_id=1) == ()
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reads.assert_called_once()
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assert owner.mapping is None and owner.checked_ns == 10
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@pytest.fixture
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def real_context(tmp_path):
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from openpilot.common.params import Params
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from openpilot.selfdrive.car.tests.test_hyundai_aol import candidate
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params = Params(str(tmp_path))
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_, cp = candidate(False)
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return params, cp
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def test_invalid_source_recovery_recaptures_and_rejects_held_release(real_context):
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from openpilot.starpilot.controllers.tests.test_wheel_actions import DRIVE, NOW, state
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params, cp = real_context
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params.put('DistanceButtonControl', 8, block=True)
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owner = wheel_actions.WheelPublisher()
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owner.observe(params, cp, state(), now_ns=NOW, drive_id=DRIVE)
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owner.observe(params, cp, state(True), now_ns=NOW + 10_000_000, drive_id=DRIVE)
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assert owner.tracker.distance_held
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invalid = state()
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invalid.canValid = False
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with mock.patch.object(wheel_actions, 'capture', wraps=wheel_actions.capture) as reads:
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assert owner.observe(params, cp, invalid, now_ns=NOW + 20_000_000, drive_id=DRIVE) == ()
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reads.assert_not_called()
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assert owner.mapping is None and not owner.tracker.distance_held
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params.put('DistanceButtonControl', 12, block=True)
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with mock.patch.object(wheel_actions, 'capture', wraps=wheel_actions.capture) as reads:
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commands = owner.observe(params, cp, state(False), now_ns=NOW + 30_000_000, drive_id=DRIVE)
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reads.assert_called_once_with(params)
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assert owner.mapping['DistanceButtonControl'] == 12
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assert not any(action for _, action in commands)
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owner.observe(params, cp, state(True), now_ns=NOW + 40_000_000, drive_id=DRIVE)
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assert owner.observe(params, cp, state(False), now_ns=NOW + 50_000_000, drive_id=DRIVE) == (('DistanceButtonControl', 12),)
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def test_invalid_drive_new_drive_recaptures_current_mapping(real_context):
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from openpilot.starpilot.controllers.tests.test_wheel_actions import DRIVE, NOW, state
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params, cp = real_context
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owner = wheel_actions.WheelPublisher()
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with mock.patch.object(wheel_actions, 'capture', wraps=wheel_actions.capture) as reads:
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assert owner.observe(params, cp, state(), now_ns=NOW, drive_id=0) == ()
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reads.assert_not_called()
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assert owner.mapping is None
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params.put('DistanceButtonControl', 11, block=True)
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with mock.patch.object(wheel_actions, 'capture', wraps=wheel_actions.capture) as reads:
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commands = owner.observe(params, cp, state(), now_ns=NOW + 10_000_000, drive_id=DRIVE + 1)
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reads.assert_called_once_with(params)
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assert owner.mapping is not None
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assert owner.drive == DRIVE + 1 and owner.mapping['DistanceButtonControl'] == 11
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assert not any(action for _, action in commands)
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owner.observe(params, cp, state(True), now_ns=NOW + 20_000_000, drive_id=DRIVE + 1)
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assert owner.observe(params, cp, state(False), now_ns=NOW + 30_000_000, drive_id=DRIVE + 1) == (('DistanceButtonControl', 11),)
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