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https://github.com/firestar5683/StarPilot.git
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firestar5683
222 lines
12 KiB
Python
222 lines
12 KiB
Python
from collections import deque
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from contextlib import ExitStack
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from unittest import mock
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import pytest
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from openpilot.cereal import messaging
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from openpilot.common.prefix import OpenpilotPrefix
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from opendbc.car.structs import car
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from openpilot.starpilot.aol.tests import test_ioniq_availability as fixture
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from openpilot.starpilot.aol.tests.test_carstate_queue import message
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from openpilot.starpilot.aol.wire import IntentState, encode_intent
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BASE = 10_020_000_000
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def intent(stamp, sequence, *, pause_lat=True, pause_long=False, producer="authority-card"):
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wire = messaging.new_message('aolIntentWire', 0, valid=True, logMonoTime=stamp)
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wire.aolIntentWire = encode_intent(IntentState(producer, sequence, stamp, stamp,
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stamp + 200_000_000, False, pause_lat, pause_long, True, False))
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return wire
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@pytest.mark.parametrize('timing', [
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'timely', 'late_poll', 'processing_crosses_deadline', 'pre_refresh_cutoff', 'missing', 'cancel', 'brake',
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'invalid_envelope', 'temporary_eps', 'permanent_eps', 'native_denied', 'pause_clear', 'pause_set', 'pause_long',
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'native_invalid', 'panda_fault', 'session_change', 'producer_change', 'reordered', 'future_source', 'construction_crosses_deadline',
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])
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def test_long_only_wait_keeps_original_deadline_and_restrictions(timing):
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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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with OpenpilotPrefix():
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state = fixture.car_state()
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sd, controls, step, _, _ = case._ioniq_availability_callers(full_op=True)
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original, _, command = step(2, offset_ns=5_323_004, state_stamp=BASE, intent_message=intent(BASE, 3, pause_lat=timing != 'pause_set'),
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latched=False, pause=True, native_request_lat=False, allowed=False)
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assert not original.lateralActive and not command.latActive
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assert original.longitudinalActive and command.longActive and sd.enabled and sd.active
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assert not sd.aol_last_intent.allowedLatch
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assert sd.aol_last_intent.pauseLateral == (timing != 'pause_set')
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deadline = BASE + 35_323_004
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assert original.validUntilMonoTime == deadline
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now = [BASE + (29_900_000 if timing == 'pre_refresh_cutoff' else 30_338_798)]
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next_stamp = BASE + 32_614_311
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queued, wires = deque(), deque()
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original_receive = messaging.recv_one_or_none
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original_car_update = sd._update_car_event_sample
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original_authority = sd._update_steering_authority
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if timing == 'cancel':
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state.buttonEvents = [car.CarState.ButtonEvent(type=car.CarState.ButtonEvent.Type.cancel, pressed=True)]
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elif timing == 'brake':
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state.brakePressed = True
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elif timing == 'temporary_eps':
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state.steerFaultTemporary = state.standstill = True
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elif timing == 'permanent_eps':
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state.steerFaultPermanent = True
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def receive(sock):
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if sock is sd.car_state_sock:
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return queued.popleft() if queued else None
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if sock is sd.aol_intent_companion.sock:
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return wires.popleft() if wires else None
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return original_receive(sock)
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def poll(timeout):
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assert 0 < timeout <= (deadline - now[0]) // 1_000_000
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held, _ = controls.state_control()
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assert not held.latActive and held.longActive
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if timing == 'missing':
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now[0] += timeout * 1_000_000
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return []
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now[0] = deadline + 1 if timing == 'late_poll' else next_stamp + 100_000
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if timing == 'late_poll':
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expired, _ = controls.state_control()
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assert not expired.latActive and not expired.longActive
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selected_stamp = BASE - 1 if timing == 'reordered' else now[0] + 1 if timing == 'future_source' else next_stamp
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queued.append(message(selected_stamp, state, valid=timing != 'invalid_envelope'))
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wires.append(intent(selected_stamp, 5, pause_lat=timing != 'pause_clear').as_reader())
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return [sd.car_state_sock]
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def car_update(sample, previous):
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result = original_car_update(sample, previous)
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if timing == 'processing_crosses_deadline':
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now[0] = deadline + 1
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return result
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def authority(sample):
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if timing == 'pre_refresh_cutoff':
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now[0] = max(now[0], BASE + 30_338_798)
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return original_authority(sample)
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original_new_message = messaging.new_message
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construction_crossed = False
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def new_message(*args, **kwargs):
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nonlocal construction_crossed
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result = original_new_message(*args, **kwargs)
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if args and args[0] == 'aolAxisState' and timing == 'construction_crosses_deadline' and not construction_crossed:
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construction_crossed = True
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now[0] = deadline + 1
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return result
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if timing == 'session_change':
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sd.aol_session_id = 'replacement-session'
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latest = intent(BASE, 3, pause_lat=timing != 'pause_set')
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if timing in ('pause_clear', 'pause_set', 'pause_long', 'producer_change'):
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latest = intent(BASE + 30_000_000, 4, pause_lat=timing != 'pause_clear',
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pause_long=timing == 'pause_long', producer='changed-card' if timing == 'producer_change' else 'authority-card')
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wires.append(latest.as_reader())
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clock_reads = []
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def clock():
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assert not clock_reads or now[0] >= clock_reads[-1]
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clock_reads.append(now[0])
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return now[0]
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poller = mock.Mock()
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poller.poll.side_effect = poll
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sd.car_state_poller = poller
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with mock.patch('openpilot.selfdrive.selfdrived.selfdrived.time.monotonic_ns', side_effect=clock), \
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mock.patch('openpilot.selfdrive.selfdrived.selfdrived.messaging.recv_one_or_none', side_effect=receive), \
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mock.patch('openpilot.selfdrive.selfdrived.selfdrived.messaging.new_message', side_effect=new_message), \
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mock.patch.object(sd, '_update_steering_authority', side_effect=authority), \
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mock.patch.object(sd, '_update_car_event_sample', side_effect=car_update), \
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mock.patch.object(sd.state_machine, 'update', wraps=sd.state_machine.update) as transition:
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axis, _, command = step(5, timeout=True, offset_ns=338_798, intent_message=latest,
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latched=False, pause=True, native_request_lat=False, allowed=False,
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long_allowed=timing != 'native_denied', native_valid=timing != 'native_invalid', panda_fault=timing == 'panda_fault')
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if timing in ('pre_refresh_cutoff', 'missing'):
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# The source expires after the normal refresh cutoff. One early deferral
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# retains exactly the old packet, without another state transition.
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assert sd.aol_axis_publication_deferred and transition.call_count == 0
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assert axis.to_dict() == original.to_dict()
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assert poller.poll.call_count == (1 if timing == 'missing' else 0)
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assert now[0] < deadline and axis.validUntilMonoTime == deadline
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with mock.patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=deadline + 1):
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expired, _ = controls.state_control()
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assert not expired.latActive and not expired.longActive
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missing, _, missing_command = step(6, timeout=True, intent_message=latest,
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latched=False, pause=True, native_request_lat=False, allowed=False)
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assert not missing.longitudinalActive and not missing_command.longActive
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assert not missing.lateralActive and not missing_command.latActive
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if timing == 'missing':
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# A second missing input ended the actual ordinary engagement. Its
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# original proof expired; fresh input cannot silently enable LONG.
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assert not sd.enabled and not sd.active
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recovered, _, recovered_command = step(7, latched=False, pause=True, native_request_lat=False, allowed=False)
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assert not recovered.longitudinalActive and not recovered_command.longActive
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assert not sd.enabled and not sd.active and not sd.events.contains('enable')
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else:
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fixture.assert_ordinary_source_pause(sd)
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recovered, _, recovered_command = step(7, latched=False, pause=True, native_request_lat=False, allowed=False)
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fixture.assert_fresh_ordinary_recovery(sd, recovered, recovered_command, BASE + 50_000_000)
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assert original.validUntilMonoTime == deadline
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return
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assert transition.call_count == 1
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if timing in ('native_denied', 'pause_set', 'pause_long', 'native_invalid', 'panda_fault', 'session_change', 'producer_change', 'pre_refresh_cutoff'):
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assert poller.poll.call_count == 0
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else:
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assert poller.poll.call_count == 1
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# Expired output inhibits consumers; a fresh owner decision may renew an
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# engagement that was never revoked. Source/native/physical negatives stay off.
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renewed = timing in ('late_poll', 'processing_crosses_deadline', 'construction_crosses_deadline')
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if timing in ('timely', 'temporary_eps', 'pause_clear') or renewed:
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assert poller.poll.call_count == 1 and not queued
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assert axis.sourceCarStateMonoTime == next_stamp
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assert not axis.lateralActive and not command.latActive
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assert axis.longitudinalActive and command.longActive and sd.enabled and sd.active
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assert (now[0] > deadline) == renewed
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assert now[0] - axis.sourceCarStateMonoTime <= 30_000_000
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if timing == 'temporary_eps':
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assert fixture.log.OnroadEvent.EventName.steerTempUnavailableSilent in sd.events.names
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else:
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assert not axis.lateralActive and not axis.longitudinalActive and not command.latActive and not command.longActive
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if timing == 'missing':
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fixture.assert_ordinary_source_pause(sd)
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recovered, _, recovered_command = step(7, latched=False, pause=True, native_request_lat=False, allowed=False)
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fixture.assert_fresh_ordinary_recovery(sd, recovered, recovered_command, BASE + 50_000_000)
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assert original.validUntilMonoTime == deadline
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else:
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assert not sd.enabled and not sd.active
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recovered, _, recovered_command = step(7, latched=False, pause=True, native_request_lat=False, allowed=False)
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assert not recovered.longitudinalActive and not recovered_command.longActive and not sd.enabled
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@pytest.mark.parametrize('long_only', [False, True])
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@pytest.mark.parametrize('transition', ['held', 'cleared', 'new_pause', 'active_pause', 'no_pause'])
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def test_wait_pause_veto_is_axis_scoped_and_preserves_unpause(long_only, transition):
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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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with OpenpilotPrefix():
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sd, _, step, _, _ = case._ioniq_availability_callers(full_op=long_only)
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def wire(stamp, sequence, inactive_pause, active_pause=False):
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sample = messaging.new_message('aolIntentWire', 0, valid=True, logMonoTime=stamp)
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sample.aolIntentWire = encode_intent(IntentState('authority-card', sequence, stamp, stamp, stamp + 200_000_000,
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not long_only, inactive_pause if long_only else active_pause,
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active_pause if long_only else inactive_pause, True, not long_only))
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return sample
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old_pause = transition in ('held', 'cleared', 'active_pause')
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axis, _, _ = step(2, offset_ns=5_323_004, state_stamp=BASE, intent_message=wire(BASE, 3, old_pause),
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latched=not long_only, native_request_lat=not long_only or not old_pause, allowed=not long_only or not old_pause)
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assert axis.lateralActive == (not long_only or not old_pause) and axis.longitudinalActive == long_only
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now = BASE + 30_338_798
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latest = wire(BASE + 30_000_000, 4, transition in ('held', 'new_pause'), transition == 'active_pause')
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queue = deque([latest.as_reader()])
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original_receive = messaging.recv_one_or_none
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def receive(sock):
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if sock is sd.aol_intent_companion.sock:
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return queue.popleft() if queue else None
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return original_receive(sock)
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with mock.patch('openpilot.selfdrive.selfdrived.selfdrived.messaging.recv_one_or_none', side_effect=receive), \
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mock.patch('openpilot.selfdrive.selfdrived.selfdrived.time.monotonic_ns', return_value=now):
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wait = sd.event_input_wait_ns(sd.CS_prev, now)
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assert not queue
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assert wait == (0 if transition in ('new_pause', 'active_pause') else axis.validUntilMonoTime - now)
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