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https://github.com/firestar5683/StarPilot.git
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firestar5683
110 lines
5.5 KiB
Python
110 lines
5.5 KiB
Python
from contextlib import ExitStack
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from types import SimpleNamespace
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from unittest import mock
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import pytest
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from openpilot.starpilot.system.android_auto import daemon
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from openpilot.starpilot.galaxy.settings import LiveContextSource
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from openpilot.starpilot.drive_state.tests.test_evidence import Messages
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def test_configuration_park_authority_is_fresh_and_releases_physical_observer(tmp_path):
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messages = Messages()
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messages.values['pandaStates'][0].ignitionLine = True
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messages.values['pandaStates'][0].controlsAllowed = True
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messages.values['pandaStates'][0].safetyModel = 'gm'
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source = SimpleNamespace(after_mono_ns=1_000_000_000, snapshot=lambda: messages, sock={})
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from openpilot.common.params import Params
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params = Params(str(tmp_path))
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params.put_bool('IsOffroad', False)
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authority = LiveContextSource(params, messages=source, mono_clock=lambda: 2_100_000_000,
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boot_clock=lambda: 12_100_000_000, evidence_wait_ms=0)
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assert not authority.parked()
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assert authority.configuration_allowed()
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for field, value in [('enabled', True), ('active', True)]:
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setattr(messages.values['selfdriveState'], field, value)
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assert not authority.configuration_allowed()
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setattr(messages.values['selfdriveState'], field, False)
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messages.values['carState'].gearShifter = 'drive'
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assert not authority.configuration_allowed()
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messages.values['carState'].gearShifter = 'park'
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messages.valid['carState'] = False
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assert not authority.configuration_allowed()
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messages.valid['carState'] = True
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assert authority.configuration_allowed()
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physical = authority.physical
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authority.close()
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assert physical.closed and physical.messages is None
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assert authority.physical is None
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assert not authority.configuration_allowed()
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@pytest.mark.parametrize('bind_failure', [False, True])
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def test_daemon_uses_configuration_authority_and_cleans_up_after_bind_failure(bind_failure):
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with ExitStack() as patches:
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evidence = mock.Mock()
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evidence.start.return_value = evidence
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authority = mock.Mock()
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bluetooth, supervisor, server = mock.Mock(), mock.Mock(), mock.Mock()
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factories = [
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('openpilot.starpilot.galaxy.evidence.EvidenceSource', evidence),
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('openpilot.starpilot.galaxy.settings.LiveContextSource', authority),
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('openpilot.starpilot.system.android_auto.bluetooth_bridge.SharedBluetoothOwner', bluetooth),
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('openpilot.common.params.Params', mock.Mock()),
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('openpilot.starpilot.system.android_auto.daemon.Supervisor', supervisor),
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]
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calls = {name: patches.enter_context(mock.patch(name, return_value=value)) for name, value in factories}
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patches.enter_context(mock.patch.object(daemon.argparse.ArgumentParser, 'parse_args', return_value=SimpleNamespace(once=False)))
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for name in ('unlink', 'chmod'):
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patches.enter_context(mock.patch.object(daemon.os, name))
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patches.enter_context(mock.patch.object(daemon.signal, 'signal'))
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patches.enter_context(mock.patch.object(daemon.threading, 'Thread'))
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factory = patches.enter_context(mock.patch.object(daemon, 'Server', return_value=server,
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side_effect=OSError('bind failed') if bind_failure else None))
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if bind_failure:
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with pytest.raises(OSError, match='bind failed'):
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daemon.main()
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else:
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assert daemon.main() == 0
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server.serve_forever.assert_called_once()
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server.server_close.assert_called_once()
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assert calls['openpilot.starpilot.system.android_auto.bluetooth_bridge.SharedBluetoothOwner'].call_args.args[0] == authority.configuration_allowed
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assert factory.call_args.args[-1] == authority.configuration_allowed
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for resource in (supervisor, bluetooth, authority, evidence):
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resource.close.assert_called_once()
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def test_force_offroad_requires_park_but_force_onroad_accepts_movement(tmp_path):
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from openpilot.starpilot.drive_state.evidence import PhysicalSource
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from openpilot.starpilot.drive_state.owner import DriveStateOwner, Mode, Rejected
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from openpilot.starpilot.drive_state.tests.test_owner import Params, BOOT
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messages = Messages()
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messages.after_mono_ns = 1_000_000_000
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messages.values['pandaStates'][0].ignitionLine = True
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messages.values['pandaStates'][0].controlsAllowed = True
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messages.values['pandaStates'][0].safetyModel = 'gm'
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messages.values['deviceState'] = SimpleNamespace(started=True)
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physical = PhysicalSource(messages, mono=lambda: 2_100_000_000, boot=lambda: 12_100_000_000)
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owner = DriveStateOwner(Params(), tmp_path / 'owner', alive=lambda _: True)
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owner.initialize(pid=1, birth=2, boot=BOOT)
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initial_revision = owner.snapshot().revision
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assert initial_revision is not None
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state = owner.request('offroad', expected_revision=initial_revision,
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authorized=lambda: True, override_allowed=physical.allowed)
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assert state.mode == Mode.OFFROAD
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assert state.revision is not None
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owner.request('auto', expected_revision=state.revision, authorized=lambda: True, override_allowed=physical.allowed)
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messages.values['carState'].standstill = False
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revision = owner.snapshot().revision
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assert revision is not None
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with pytest.raises(Rejected):
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owner.request('offroad', expected_revision=revision,
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authorized=lambda: True, override_allowed=physical.allowed)
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assert owner.snapshot().mode == Mode.AUTO
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state = owner.request('onroad', expected_revision=revision,
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authorized=lambda: True, override_allowed=physical.allowed)
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assert state.mode == Mode.ONROAD
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assert state.revision is not None
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physical.close()
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