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https://github.com/firestar5683/StarPilot.git
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firestar5683
55 lines
2.3 KiB
Python
55 lines
2.3 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.assertTrue(intent.allowed_latch)
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self.frame(intent, main=True, now=3)
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self.assertFalse(intent._main_held)
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self.frame(intent, main=True, button=True, now=4)
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self.assertFalse(intent.allowed_latch)
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self.frame(intent, main=True, button=False, now=5)
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self.frame(intent, main=True, button=True, now=6)
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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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