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firestar5683
a82935f326
Integrate onroad views, configurable widgets, local settings, steering-profile contracts, Bluetooth and Android Auto with their device and runtime services. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: DimitriChrysafis <Dimitri.chrysafis@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: stef <19478336+stefpi@users.noreply.github.com> Co-authored-by: whoisdomi <dcantu83@gmail.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: pharmacomaniac <blittle65@gmail.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
81 lines
4.2 KiB
Python
81 lines
4.2 KiB
Python
"""Exact Bolt admission through actual Controls and existing lane authority."""
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import os
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from itertools import product
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import unittest
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from unittest.mock import patch
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from openpilot.common.params import Params
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from openpilot.common.prefix import OpenpilotPrefix
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from openpilot.selfdrive.controls.controlsd import Controls
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from openpilot.starpilot.ui.feature_settings_owner import FeatureSettingsOwner
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from openpilot.starpilot.lateral.bolt_policy import BOLT_GENERATIONS
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from openpilot.starpilot.lateral.lane_runtime import runtime_supported
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from openpilot.starpilot.lateral.tests.test_lane_runtime import feed
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from openpilot.starpilot.longitudinal.tests.test_bolt_mode_transition import params
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class TestBoltLaneRuntime(unittest.TestCase):
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def test_exact_admission_and_default_off_actual_controls_equality(self):
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for identity, alpha in product(BOLT_GENERATIONS, (False, True)):
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with self.subTest(identity=identity), OpenpilotPrefix(), patch.dict(os.environ,
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{'SIMULATION': '1', 'REPLAY': '1', 'LANE_CENTERING_REPLAY_RUNTIME': '0', 'AOL_REPLAY_RUNTIME': '0'}):
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cp = params(identity, alpha=alpha)
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self.assertTrue(runtime_supported(cp))
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for field in ('passive', 'dashcamOnly', 'notCar'):
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denied = cp.as_reader().as_builder()
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setattr(denied, field, True)
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self.assertFalse(runtime_supported(denied))
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settings = Params()
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settings.put('CarParams', cp.to_bytes(), block=True)
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selected, reference = Controls(), Controls()
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self.assertIsNotNone(selected.lane_centering_host)
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reference.lane_centering_host = None
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for tick in range(20):
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now = 1_000_000_000 + tick * 10_000_000
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feed(selected, now, tick)
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feed(reference, now, tick)
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actual, _ = selected.state_control()
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expected, _ = reference.state_control()
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self.assertEqual(actual.to_bytes(), expected.to_bytes())
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def test_enabled_actual_controls_response_and_authority_gates(self):
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gates = ({'signal': True}, {'override': True}, {'fault': True}, {'can_valid': False},
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{'can_timeout': True}, {'active': False, 'enabled': False}, {'model_age': 1_000_000_000})
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for identity, alpha in product(BOLT_GENERATIONS, (False, True)):
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for gate in gates:
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with self.subTest(identity=identity, gate=gate), OpenpilotPrefix(), patch.dict(os.environ,
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{'SIMULATION': '1', 'REPLAY': '1', 'LANE_CENTERING_REPLAY_RUNTIME': '0', 'AOL_REPLAY_RUNTIME': '0'}):
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cp = params(identity, alpha=alpha)
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settings = Params()
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settings.put('CarParams', cp.to_bytes(), block=True)
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settings.put_bool('LaneCentering', True, block=True)
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settings.put('LaneCenterOffset', .2, block=True)
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settings.put('LaneCenteringE2EAuthority', 0., block=True)
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controls = Controls()
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for tick in range(100):
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now = 1_000_000_000 + tick * 10_000_000
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feed(controls, now, tick)
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controls.state_control()
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warm_correction = abs(controls.lane_centering_applied)
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self.assertGreater(warm_correction, 0.)
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for tick in range(100, 140):
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now = 1_000_000_000 + tick * 10_000_000
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feed(controls, now, tick, **gate)
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command, _ = controls.state_control()
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if gate.get('signal'):
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self.assertLess(abs(controls.lane_centering_applied), warm_correction)
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self.assertEqual(controls.last_lane_centering_result.reason, 'signal_release')
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else:
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self.assertEqual(controls.lane_centering_applied, 0.)
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if any(key in gate for key in ('fault', 'active')):
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self.assertFalse(command.latActive)
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self.assertEqual(command.actuators.torque, 0.)
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def test_absent_cp_actual_lane_settings_page(self):
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with OpenpilotPrefix(), patch.dict(os.environ, {'LANE_CENTERING_REPLAY_RUNTIME': '0'}):
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self.assertFalse(runtime_supported(None))
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owner = FeatureSettingsOwner(Params(), lambda _: True, vehicle_fingerprint=lambda: None,
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vehicle_params=lambda: None)
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state = owner.snapshot('lane', parked=True, system_long=False, lateral_context=False, metric=False)
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self.assertIsNotNone(state)
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