mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-04 07:03:44 +08:00
Prabhaav Pillai
99 lines
4.3 KiB
Python
99 lines
4.3 KiB
Python
from types import SimpleNamespace
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from openpilot.selfdrive.ui.lib.starpilot_status import (
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DISENGAGED_COLOR,
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ENGAGED_COLOR,
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EXPERIMENTAL_COLOR,
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HYBRID_EXPERIMENTAL_COLOR,
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LONGITUDINAL_ONLY_COLOR,
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AOL_COLOR,
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OVERRIDE_COLOR,
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get_border_color,
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get_path_edge_color,
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get_screen_edge_color,
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)
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from openpilot.selfdrive.ui.ui_state import UIStatus
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def _state(*, enabled=False, lat_active=False, aol=False, status=None, events=(), hybrid=False, hem_authority=None):
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params_memory = {"HEMExpAuthority": f"{hem_authority:.3f}"} if hem_authority is not None else {}
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return SimpleNamespace(
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sm={
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"selfdriveState": SimpleNamespace(enabled=enabled, experimentalMode=False),
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"carControl": SimpleNamespace(latActive=lat_active),
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"onroadEvents": events,
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},
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status=status if status is not None else (UIStatus.ENGAGED if enabled else UIStatus.DISENGAGED),
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always_on_lateral_active=aol,
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switchback_mode_enabled=False,
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traffic_mode_enabled=False,
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conditional_status=0,
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starpilot_toggles={"hybrid_experimental_mode": hybrid},
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params_memory=SimpleNamespace(get=lambda key, default=None: params_memory.get(key, default)),
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)
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def _rgb(color):
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return color.r, color.g, color.b
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def test_cruise_only_uses_pink_for_border_and_screen_edge():
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state = _state(enabled=True, lat_active=False)
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assert _rgb(get_border_color(state)) == _rgb(LONGITUDINAL_ONLY_COLOR)
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assert _rgb(get_screen_edge_color(state)) == _rgb(LONGITUDINAL_ONLY_COLOR)
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def test_lateral_active_colors_remain_unchanged():
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assert _rgb(get_border_color(_state(enabled=True, lat_active=True))) == _rgb(ENGAGED_COLOR)
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assert _rgb(get_border_color(_state(aol=True))) == _rgb(AOL_COLOR)
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assert _rgb(get_border_color(_state())) == _rgb(DISENGAGED_COLOR)
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def test_hybrid_experimental_mode_uses_blue_border():
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state = _state(enabled=True, lat_active=True, hybrid=True)
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assert _rgb(get_border_color(state)) == _rgb(HYBRID_EXPERIMENTAL_COLOR)
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assert _rgb(get_screen_edge_color(state)) == _rgb(HYBRID_EXPERIMENTAL_COLOR)
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assert _rgb(get_path_edge_color(state)) == _rgb(HYBRID_EXPERIMENTAL_COLOR)
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def test_hybrid_experimental_mode_uses_orange_when_exp_dominates():
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state = _state(enabled=True, lat_active=True, hybrid=True, hem_authority=0.8)
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assert _rgb(get_border_color(state)) == _rgb(EXPERIMENTAL_COLOR)
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assert _rgb(get_screen_edge_color(state)) == _rgb(EXPERIMENTAL_COLOR)
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assert _rgb(get_path_edge_color(state)) == _rgb(EXPERIMENTAL_COLOR)
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def test_hybrid_experimental_mode_keeps_blue_when_chill_dominates():
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state = _state(enabled=True, lat_active=True, hybrid=True, hem_authority=0.3)
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assert _rgb(get_border_color(state)) == _rgb(HYBRID_EXPERIMENTAL_COLOR)
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assert _rgb(get_screen_edge_color(state)) == _rgb(HYBRID_EXPERIMENTAL_COLOR)
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assert _rgb(get_path_edge_color(state)) == _rgb(HYBRID_EXPERIMENTAL_COLOR)
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def test_hybrid_experimental_mode_requires_enabled():
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assert _rgb(get_border_color(_state(hybrid=True))) == _rgb(DISENGAGED_COLOR)
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assert _rgb(get_border_color(_state(enabled=True, lat_active=True))) == _rgb(ENGAGED_COLOR)
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def test_override_color_matches_active_control_mode():
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lateral_override = SimpleNamespace(overrideLateral=True, overrideLongitudinal=False)
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longitudinal_override = SimpleNamespace(overrideLateral=False, overrideLongitudinal=True)
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override = UIStatus.OVERRIDE
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# Green: either active-control override is gray.
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assert _rgb(get_border_color(_state(enabled=True, lat_active=True, status=override, events=[lateral_override]))) == _rgb(OVERRIDE_COLOR)
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assert _rgb(get_border_color(_state(enabled=True, lat_active=True, status=override, events=[longitudinal_override]))) == _rgb(OVERRIDE_COLOR)
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# Pink: steering is already inactive, so only a longitudinal override is gray.
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pink_state = _state(enabled=True, status=override, events=[lateral_override])
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assert _rgb(get_border_color(pink_state)) == _rgb(LONGITUDINAL_ONLY_COLOR)
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assert _rgb(get_border_color(_state(enabled=True, status=override, events=[longitudinal_override]))) == _rgb(OVERRIDE_COLOR)
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# Blue/AOL: longitudinal override is inactive, so only steering is gray.
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assert _rgb(get_border_color(_state(aol=True, status=override, events=[lateral_override]))) == _rgb(OVERRIDE_COLOR)
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assert _rgb(get_border_color(_state(aol=True, status=override, events=[longitudinal_override]))) == _rgb(AOL_COLOR)
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