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firestar5683
217 lines
11 KiB
Python
217 lines
11 KiB
Python
"""A GM proof expiring during Controls preparation must consume queued evidence."""
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from contextlib import ExitStack
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from unittest.mock import patch
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import pytest
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from opendbc.car.gm.tests.test_ascm_intercept import params
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from opendbc.car.gm.tests.test_bolt_pedal import params as bolt_params
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from opendbc.car.gm.tests.test_volt_sdgm_control import sdgm_params
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from opendbc.car.gm.values import CAR
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from openpilot.cereal import messaging
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from openpilot.common.prefix import OpenpilotPrefix
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from openpilot.starpilot.aol.tests import test_ioniq_availability as fixture
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def configuration(profile):
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if profile == 'ascm-long-one-pedal':
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from openpilot.starpilot.vehicle_preferences import VehicleStartupPreferences
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cp = params(CAR.CHEVROLET_VOLT_ASCM, sascm=True, alpha=True, radar=True)
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VehicleStartupPreferences(volt_one_pedal=True, gm_auto_hold=True).prepare(cp)
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assert cp.safetyConfigs[0].safetyParam == 0xD114
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return cp
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if profile.startswith('ascm'):
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return params(CAR.CHEVROLET_VOLT_ASCM, sascm=True, alpha=profile.endswith('long'))
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if profile.startswith('sdgm'):
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return sdgm_params(alpha=profile.endswith('long'))
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candidate = CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL if profile == 'bolt-acc-pedal' else CAR.CHEVROLET_BOLT_CC_2018_2021
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return bolt_params(candidate, pedal=True, camera=True)
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@pytest.mark.parametrize('profile', ['ascm-stock', 'ascm-long', 'sdgm-stock', 'sdgm-long', 'bolt-cc-pedal', 'bolt-acc-pedal'])
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@pytest.mark.parametrize('arrival', ['healthy', 'empty', 'temporary_fault', 'withdrawn', 'native_invalid',
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'native_expired', 'can_invalid', 'longitudinal'])
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def test_gm_axis_expiry_during_qualification_uses_only_fresh_queued_permission(profile, arrival):
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cp = configuration(profile)
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case = fixture.IoniqAvailabilityTests(methodName='runTest')
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with ExitStack() as cleanup:
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cleanup.callback(case.doCleanups)
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cleanup.enter_context(OpenpilotPrefix())
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_, controls, step = case._authority_callers(False, cp=cp)
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controls.lane_centering_host = None
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_, _, initial = step(0, native_request_long=False, long_allowed=False)
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assert initial.latActive and not initial.longActive
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base = int(controls.sm.logMonoTime['aolAxisState'])
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deadline = int(controls.sm['aolAxisState'].validUntilMonoTime)
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clock = [deadline - 10_000_000]
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fresh = deadline + (210_000_000 if arrival == 'native_expired' else 10_000_000)
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queued = []
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for service in ('carState', 'aolAxisState', 'selfdriveState'):
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event = messaging.new_message(service, valid=True, logMonoTime=fresh)
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setattr(event, service, controls.sm[service])
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if service == 'carState':
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event.carState.steerFaultTemporary = arrival == 'temporary_fault'
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event.carState.canValid = arrival != 'can_invalid'
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elif service == 'aolAxisState':
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axis = event.aolAxisState
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axis.sequence += 1
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axis.sourceCarStateMonoTime = axis.observedMonoTime = fresh
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axis.validUntilMonoTime = fresh + 30_000_000
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axis.lateralActive = axis.desiredLateral = arrival != 'withdrawn'
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axis.longitudinalActive = axis.desiredLongitudinal = arrival == 'longitudinal'
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queued.append(event.as_reader())
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def qualify(active):
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# Route6a: proof is fresh on entry, expired by the axis-selection gate.
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clock[0] = fresh
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return active
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def receive(_timeout):
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if arrival != 'empty':
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controls.sm.update_msgs(fresh / 1e9, queued)
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if arrival == 'native_invalid':
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controls.sm.valid['aolSafetyWire'] = False
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cleanup.enter_context(patch.dict('os.environ', {'REPLAY': '0'}))
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cleanup.enter_context(patch('time.monotonic_ns', side_effect=lambda: clock[0]))
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cleanup.enter_context(patch.object(controls.longitudinal_inputs, 'qualify_active', side_effect=qualify))
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receive_mock = cleanup.enter_context(patch.object(controls.sm, 'update', side_effect=receive))
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command, _ = controls.state_control()
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assert receive_mock.call_args_list == [((0,),)] * (2 if arrival == 'empty' else 1)
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assert command.latActive == (arrival in ('healthy', 'longitudinal'))
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assert not command.longActive
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# Neither the original nor the received proof acquires a longer lease.
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assert deadline == base + 30_000_000
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expected_deadline = deadline if arrival == 'empty' else fresh + 30_000_000
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assert controls.sm['aolAxisState'].validUntilMonoTime == expected_deadline
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@pytest.mark.parametrize('profile', ['ascm-long', 'sdgm-long', 'bolt-cc-pedal', 'bolt-acc-pedal'])
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def test_expired_combined_gm_permission_withdraws_both_axes_without_fresh_receipt(profile):
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case = fixture.IoniqAvailabilityTests(methodName='runTest')
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with ExitStack() as cleanup:
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cleanup.callback(case.doCleanups)
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cleanup.enter_context(OpenpilotPrefix())
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_, controls, step = case._authority_callers(True, cp=configuration(profile))
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controls.lane_centering_host = None
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_, _, initial = step(0)
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assert initial.latActive and initial.longActive
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deadline = controls.sm['aolAxisState'].validUntilMonoTime
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clock = [deadline - 10_000_000]
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def qualify(active):
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clock[0] = deadline + 10_000_000
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return active
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cleanup.enter_context(patch.dict('os.environ', {'REPLAY': '0'}))
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cleanup.enter_context(patch('time.monotonic_ns', side_effect=lambda: clock[0]))
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cleanup.enter_context(patch.object(controls.longitudinal_inputs, 'qualify_active', side_effect=qualify))
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receive = cleanup.enter_context(patch.object(controls.sm, 'update'))
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command, _ = controls.state_control()
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assert receive.call_args_list == [((0,),), ((0,),)]
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assert not command.latActive and not command.longActive
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@pytest.mark.parametrize('profile', ['ascm-long', 'ascm-long-one-pedal', 'sdgm-long', 'bolt-cc-pedal', 'bolt-acc-pedal'])
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@pytest.mark.parametrize('delivery', ['queued', 'publishing'])
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@pytest.mark.parametrize('arrival', ['healthy', 'empty', 'temporary_fault', 'withdrawn', 'native_invalid',
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'native_expired', 'can_invalid', 'stale_axis', 'foreign_session',
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'longitudinal_veto', 'ordinary_disabled'])
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def test_combined_gm_expiry_receives_queued_evidence_without_extending_permission(profile, arrival, delivery):
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case = fixture.IoniqAvailabilityTests(methodName='runTest')
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with ExitStack() as cleanup:
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cleanup.callback(case.doCleanups)
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cleanup.enter_context(OpenpilotPrefix())
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_, controls, step = case._authority_callers(True, cp=configuration(profile))
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controls.lane_centering_host = None
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_, _, initial = step(0)
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assert initial.latActive and initial.longActive
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axis = controls.sm['aolAxisState']
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deadline = int(axis.validUntilMonoTime)
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# Route bc: fresh at entry, expired by 145868 ns at the gate; a newer proof
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# was queued 243373 ns before the previous proof's deadline.
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clock = [deadline - 23_380_738]
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gate = deadline + (210_000_000 if arrival == 'native_expired' else 145_868)
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receipt = gate if arrival == 'native_expired' else deadline - 243_373
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if delivery == 'publishing' and arrival != 'native_expired':
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# Route 2a: the immediate receive raced the publishing process.
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clock[0] = deadline + 1_371_273
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gate = deadline + 1_731_582
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receipt = deadline + 1_468_560
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queued = []
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for service in ('carState', 'aolAxisState', 'selfdriveState'):
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event = messaging.new_message(service, valid=True, logMonoTime=receipt)
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setattr(event, service, controls.sm[service])
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if service == 'carState':
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event.carState.steerFaultTemporary = arrival == 'temporary_fault'
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event.carState.canValid = arrival != 'can_invalid'
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elif service == 'aolAxisState':
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fresh = event.aolAxisState
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fresh.sequence += 1
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fresh.sourceCarStateMonoTime = fresh.observedMonoTime = receipt
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fresh.validUntilMonoTime = deadline if arrival == 'stale_axis' else receipt + 30_000_000
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fresh.lateralActive = fresh.desiredLateral = arrival != 'withdrawn'
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fresh.longitudinalActive = fresh.desiredLongitudinal = arrival != 'withdrawn'
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fresh.qualified = arrival != 'can_invalid'
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if arrival == 'foreign_session':
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fresh.sessionId = 'unacknowledged-new-session'
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elif service == 'selfdriveState' and arrival == 'ordinary_disabled':
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event.selfdriveState.enabled = False
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queued.append(event.as_reader())
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def qualify(active):
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clock[0] = gate
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return active and arrival != 'longitudinal_veto'
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receives = []
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def receive(_timeout):
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receives.append(_timeout)
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if delivery == 'publishing' and len(receives) == 1:
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return
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if arrival != 'empty':
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controls.sm.update_msgs(receipt / 1e9, queued)
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if arrival == 'native_invalid':
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controls.sm.valid['aolSafetyWire'] = False
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cleanup.enter_context(patch.dict('os.environ', {'REPLAY': '0'}))
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cleanup.enter_context(patch('time.monotonic_ns', side_effect=lambda: clock[0]))
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cleanup.enter_context(patch.object(controls.longitudinal_inputs, 'qualify_active', side_effect=qualify))
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receiver = cleanup.enter_context(patch.object(controls.sm, 'update', side_effect=receive))
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poller = cleanup.enter_context(patch('openpilot.cereal.messaging.Poller'))
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poller.return_value.poll.side_effect = lambda timeout: clock.__setitem__(0, gate + 4_000_000)
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command, _ = controls.state_control()
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assert command.latActive == (arrival in ('healthy', 'longitudinal_veto', 'ordinary_disabled'))
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assert command.longActive == (arrival in ('healthy', 'temporary_fault'))
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if delivery == 'publishing' or arrival == 'empty':
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poller.return_value.registerSocket.assert_called_once_with(controls.sm.sock['aolAxisState'])
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poller.return_value.poll.assert_called_once_with(10)
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else:
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poller.assert_not_called()
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assert receiver.call_args_list == [((0,),)] * (2 if arrival == 'empty' or delivery == 'publishing' else 1)
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assert axis.validUntilMonoTime == deadline
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expected = deadline if arrival in ('empty', 'stale_axis') else receipt + 30_000_000
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assert controls.sm['aolAxisState'].validUntilMonoTime == expected
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def test_combined_snapshot_refresh_requires_explicit_opt_in():
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from types import SimpleNamespace
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from unittest.mock import Mock
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from openpilot.starpilot.aol.runtime import refresh_expired_lateral_snapshot
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axis = SimpleNamespace(qualified=True, nativeAcknowledged=True, sessionId='session',
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lateralActive=True, desiredLateral=True, longitudinalActive=True,
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desiredLongitudinal=True, observedMonoTime=100, validUntilMonoTime=200)
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class SM:
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seen = valid = alive = {'aolAxisState': True}
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logMonoTime = {'aolAxisState': 100}
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update = Mock()
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def __getitem__(self, key):
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return axis
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sm = SM()
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assert not refresh_expired_lateral_snapshot(sm, now_ns=201)
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sm.update.assert_not_called()
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