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https://github.com/firestar5683/StarPilot.git
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firestar5683
195 lines
7.1 KiB
Python
195 lines
7.1 KiB
Python
from types import SimpleNamespace as NS
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import pytest
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from typing import Any
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from openpilot.starpilot.drive_state.evidence import PhysicalSource
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class Messages:
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def __init__(self):
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self.values: dict[str, Any] = {
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'pandaStates': [NS(pandaType='uno', controlsAllowed=False, ignitionLine=False, ignitionCan=False, safetyModel='noOutput')],
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'carState': NS(canValid=True, canTimeout=False, standstill=True, gearShifter='park'),
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'selfdriveState': NS(enabled=False, active=False),
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}
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keys = self.values
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self.seen = dict.fromkeys(keys, True)
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self.alive = dict.fromkeys(keys, True)
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self.valid = dict.fromkeys(keys, True)
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self.logMonoTime = dict.fromkeys(keys, 2_000_000_000)
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self.logMonoTime['pandaStates'] += 10_000_000_000
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self.recv_time = dict.fromkeys(keys, 2.0)
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def __getitem__(self, key):
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return self.values[key]
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@pytest.fixture
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def fixture():
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now = [1_000_000_000, 10_000_000_000]
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messages = Messages()
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source = PhysicalSource(messages, mono=lambda: now[0], boot=lambda: sum(now))
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now[0] = 2_100_000_000
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return NS(now=now, sm=messages, source=source)
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def test_genuine_ignition_off_needs_all_panda_no_output_not_pipeline_state(fixture):
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f = fixture
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assert f.source.allowed()
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f.sm.values['deviceState'] = NS(started=True)
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assert f.source.allowed()
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f.sm.values['pandaStates'][0].safetyModel = 'toyota'
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assert not f.source.allowed()
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@pytest.mark.parametrize('field,value', [('controlsAllowed', True), ('pandaType', 'unknown')])
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def test_unknown_or_actuation_authority_never_admits(fixture, field, value):
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setattr(fixture.sm.values['pandaStates'][0], field, value)
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assert not fixture.source.allowed()
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def test_live_can_park_disabled_can_admit_with_ignition_on_and_started(fixture):
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f = fixture
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f.sm.values['pandaStates'][0].ignitionLine = True
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f.sm.values['pandaStates'][0].safetyModel = 'toyota'
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f.sm.values['deviceState'] = NS(started=True)
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assert f.source.allowed()
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for message, field, value in [
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('carState', 'canValid', False),
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('carState', 'canTimeout', True),
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('carState', 'standstill', False),
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('carState', 'gearShifter', 'drive'),
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('selfdriveState', 'enabled', True),
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('selfdriveState', 'active', True),
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]:
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before = getattr(f.sm.values[message], field)
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setattr(f.sm.values[message], field, value)
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assert not f.source.allowed()
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setattr(f.sm.values[message], field, before)
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def test_stale_forced_offroad_cannot_supply_park_authority(fixture):
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f = fixture
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f.sm.values['pandaStates'][0].ignitionLine = True
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f.sm.logMonoTime['carState'] = 1_000_000_000
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f.sm.values['deviceState'] = NS(started=False)
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assert not f.source.allowed()
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@pytest.mark.parametrize('service', ['pandaStates', 'carState', 'selfdriveState'])
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def test_missing_invalid_stale_future_sources_fail_closed(fixture, service):
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f = fixture
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f.sm.values['pandaStates'][0].ignitionLine = True
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for table, value in [(f.sm.valid, False), (f.sm.alive, False), (f.sm.seen, False), (f.sm.logMonoTime, 0), (f.sm.recv_time, 100.0)]:
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before = table[service]
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table[service] = value
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assert not f.source.allowed()
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table[service] = before
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def test_resume_and_collector_start_need_post_boundary_evidence(fixture):
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f = fixture
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f.sm.values['pandaStates'][0].ignitionLine = True
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assert f.source.allowed()
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f.now[1] += 20_000_000_000
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assert not f.source.allowed()
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f.sm.logMonoTime['pandaStates'] = sum(f.now)
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f.sm.recv_time['pandaStates'] = f.now[0] / 1e9
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assert not f.source.allowed()
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f.now[0] += 10_000_000
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for key in f.sm.values:
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if key == 'deviceState':
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continue
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f.sm.logMonoTime[key] = sum(f.now) if key == 'pandaStates' else f.now[0]
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f.sm.recv_time[key] = f.now[0] / 1e9
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assert f.source.allowed()
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f.source.close()
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assert not f.source.allowed()
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def test_real_capnp_physical_fields_and_fresh_effective_state(fixture):
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from openpilot.cereal import log
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f = fixture
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panda_event = log.Event.new_message()
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pandas = panda_event.init('pandaStates', 1)
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pandas[0].pandaType = 'uno'
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pandas[0].safetyModel = 'noOutput'
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f.sm.values['pandaStates'] = panda_event.as_reader().pandaStates
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assert f.source.allowed()
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device = log.Event.new_message().init('deviceState')
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device.started = True
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f.sm.values['deviceState'] = device.as_reader()
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for table, value in ((f.sm.seen, True), (f.sm.alive, True), (f.sm.valid, True), (f.sm.logMonoTime, 2_000_000_000), (f.sm.recv_time, 2.0)):
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table['deviceState'] = value
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assert f.source.effective() is True
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f.sm.logMonoTime['deviceState'] = 1
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assert f.source.effective() is None
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f.now[1] += 10_000_000_000
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assert f.source.effective() is None
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def test_park_disengaged_does_not_confuse_native_permission_with_active_controls(fixture):
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f = fixture
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f.sm.values['pandaStates'][0].ignitionLine = True
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f.sm.values['pandaStates'][0].safetyModel = 'hyundaiCanfd'
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f.sm.values['pandaStates'][0].controlsAllowed = True
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f.sm.values['deviceState'] = NS(started=True)
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assert f.source.allowed()
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f.sm.values['selfdriveState'].active = True
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assert not f.source.allowed()
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f.sm.values['selfdriveState'].active = False
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f.sm.values['carState'].gearShifter = 'drive'
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assert not f.source.allowed()
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def offroad_device(f):
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f.sm.values['deviceState'] = NS(started=False)
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for table, value in ((f.sm.seen, True), (f.sm.alive, True), (f.sm.valid, True),
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(f.sm.logMonoTime, 2_000_000_000), (f.sm.recv_time, 2.0)):
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table['deviceState'] = value
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def test_update_forced_offroad_does_not_require_stopped_driving_publishers(fixture):
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f = fixture
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offroad_device(f)
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f.sm.values['pandaStates'][0].ignitionLine = True
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f.sm.values.pop('carState')
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f.sm.values.pop('selfdriveState')
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assert not f.source.allowed()
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assert f.source.update_ready(True)
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assert not f.source.update_ready(False)
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f.sm.values['deviceState'].started = True
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assert not f.source.update_ready(True)
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@pytest.mark.parametrize('field,value', [('controlsAllowed', True), ('safetyModel', 'hyundaiCanfd'),
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('pandaType', 'unknown')])
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def test_forced_offroad_update_requires_native_no_output(fixture, field, value):
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f = fixture
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offroad_device(f)
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f.sm.values['pandaStates'][0].ignitionLine = True
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f.sm.values.pop('carState')
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setattr(f.sm.values['pandaStates'][0], field, value)
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assert not f.source.update_ready(True)
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@pytest.mark.parametrize('service', ['pandaStates', 'deviceState'])
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def test_forced_offroad_update_rechecks_freshness(fixture, service):
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f = fixture
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offroad_device(f)
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f.sm.values['pandaStates'][0].ignitionLine = True
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assert f.source.update_ready(True)
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f.sm.logMonoTime[service] = 1
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assert not f.source.update_ready(True)
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@pytest.mark.parametrize('ignition', [False, True])
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@pytest.mark.parametrize('gear', ['park', 'drive', 'reverse', 'neutral', 'unknown'])
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def test_galaxy_requires_fresh_explicit_park_even_with_ignition_off(fixture, ignition, gear):
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f = fixture
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f.sm.values['pandaStates'][0].ignitionLine = ignition
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f.sm.values['carState'].gearShifter = gear
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assert f.source.status(require_park=True)['allowed'] == (gear == 'park')
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f.sm.logMonoTime['carState'] = 1
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assert not f.source.status(require_park=True)['allowed']
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