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https://github.com/firestar5683/StarPilot.git
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firestar5683
63 lines
2.8 KiB
Python
63 lines
2.8 KiB
Python
"""Actual Honda limiter/CAN emission retains optional unlimited integer on wire."""
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import pytest
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from openpilot.cereal import messaging
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from openpilot.starpilot.flm.fullrate_collector import AppliedEvidence
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from openpilot.starpilot.flm.learning_wire import read_applied, write_applied
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from openpilot.starpilot.flm.projection_wire import read_projection, write_projection
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from openpilot.starpilot.flm.tests.test_steering_projection import HONDA, apply, control, install_observer, make_interface, settle
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def original_projection(*, clipped):
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ci = make_interface(HONDA.HONDA_CIVIC)
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assert install_observer(ci)
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settle(ci, control(0.))
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if clipped:
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actuators, packets, projection = apply(ci, control(.8))
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assert projection.unlimited_raw is None
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else:
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actuators, packets, projection = settle(ci, control(.002))[-1]
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assert type(projection.unlimited_raw) is int
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assert (projection.can_address, projection.can_data, projection.can_bus) in packets
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return projection, float(actuators.torque)
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@pytest.mark.parametrize('clipped', [False, True])
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def test_actual_honda_card_applied_wire_roundtrip(clipped):
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projection, applied = original_projection(clipped=clipped)
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evidence = AppliedEvidence(10_000_000_000, 10_000_000_000, 10_001_000_000,
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'normalized_torque', applied, True, True, False, False, clipped, True, projection)
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message = messaging.new_message('starpilotCarState', valid=True, logMonoTime=evidence.apply_ns)
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write_applied(message.starpilotCarState, evidence)
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decoded = read_applied(messaging.log_from_bytes(message.to_bytes()))
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assert decoded == evidence
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assert decoded.projection.unlimited_raw == projection.unlimited_raw
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assert decoded.limited is clipped
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assert decoded.projection.can_data == projection.can_data
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def test_legacy_integer_projection_still_decodes_exactly():
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projection, _ = original_projection(clipped=False)
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wire = write_projection(projection)
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wire['version'] = 1
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wire.pop('unlimitedRawPresent')
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message = messaging.new_message('starpilotCarState')
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message.starpilotCarState.appliedEvidence.projection = wire
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decoded = read_projection(messaging.log_from_bytes(message.to_bytes()).starpilotCarState.appliedEvidence.projection)
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assert decoded == projection
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@pytest.mark.parametrize('mutation', ['nonzero_absent', 'future_version'])
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def test_optional_integer_does_not_hide_malformed_projection(mutation):
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projection, _ = original_projection(clipped=True)
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wire = write_projection(projection)
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if mutation == 'nonzero_absent':
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wire['unlimitedRaw'] = 1
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else:
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wire['version'] = 3
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message = messaging.new_message('starpilotCarState')
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message.starpilotCarState.appliedEvidence.projection = wire
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parsed = messaging.log_from_bytes(message.to_bytes()).starpilotCarState.appliedEvidence.projection
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with pytest.raises(ValueError):
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read_projection(parsed)
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