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https://github.com/firestar5683/StarPilot.git
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firestar5683
57 lines
2.2 KiB
Python
57 lines
2.2 KiB
Python
import cereal.messaging as messaging
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from cereal import car, custom
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from opendbc.car.nissan.values import CAR as NISSAN_CAR
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from openpilot.selfdrive.car.cruise_state import should_cancel_stock_cruise
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from openpilot.selfdrive.controls.controlsd import Controls
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class FakeFallbackParams:
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def __init__(self, fallback_cp, fallback_fpcp):
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self.values = {
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"CarParams": fallback_cp.to_bytes(),
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"StarPilotCarParams": fallback_fpcp.to_bytes(),
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}
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def get_bool(self, key):
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return key in ("ControlsReady", "EcuDisableFailed")
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def get(self, key):
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return self.values[key]
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def test_leaf_ecu_disable_fallback_reloads_read_only_car_params():
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initial_cp = car.CarParams.new_message()
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initial_cp.carFingerprint = NISSAN_CAR.NISSAN_LEAF
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initial_cp.openpilotLongitudinalControl = True
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initial_cp.pcmCruise = False
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initial_fpcp = custom.StarPilotCarParams.new_message()
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initial_fpcp.safetyConfigs = [custom.StarPilotCarParams.SafetyConfig.new_message(safetyParam=2)]
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fallback_cp = car.CarParams.new_message()
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fallback_cp.carFingerprint = NISSAN_CAR.NISSAN_LEAF
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fallback_cp.openpilotLongitudinalControl = False
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fallback_cp.pcmCruise = True
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fallback_fpcp = custom.StarPilotCarParams.new_message()
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fallback_fpcp.safetyConfigs = [custom.StarPilotCarParams.SafetyConfig.new_message(safetyParam=0)]
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initial_cp_reader = messaging.log_from_bytes(initial_cp.to_bytes(), car.CarParams)
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controls = Controls.__new__(Controls)
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controls.CP = initial_cp_reader
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controls.FPCP = messaging.log_from_bytes(initial_fpcp.to_bytes(), custom.StarPilotCarParams)
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controls.params = FakeFallbackParams(fallback_cp, fallback_fpcp)
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controls.ecu_disable_failed = False
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controls.ecu_disable_failed_checked = False
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controls.update_ecu_disable_failed()
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assert controls.ecu_disable_failed
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assert controls.ecu_disable_failed_checked
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assert not controls.CP.openpilotLongitudinalControl
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assert controls.CP.pcmCruise
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assert controls.FPCP.safetyConfigs[0].safetyParam == 0
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assert initial_cp_reader.openpilotLongitudinalControl
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assert not initial_cp_reader.pcmCruise
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assert not should_cancel_stock_cruise(controls.CP, cruise_enabled=True, controls_enabled=True)
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