mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
79c8945a41
Integrate torque feedback, lane-change smoothing and low-speed Turn Assist through dedicated lateral owners. Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: pharmacomaniac <blittle65@gmail.com>
96 lines
4.4 KiB
Python
96 lines
4.4 KiB
Python
import ast
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from pathlib import Path
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import tempfile
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from types import SimpleNamespace
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import unittest
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from unittest.mock import patch
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from opendbc.car import structs
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from openpilot.starpilot.lateral.bolt_policy import BOLT_GENERATIONS
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from openpilot.starpilot.lateral.torque_runtime import TorqueHost, runtime_enabled
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from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY, FieldChoice, PlatformProfile, serialize_document
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class TestBoltTorqueAdmission(unittest.TestCase):
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def setUp(self):
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temporary = tempfile.TemporaryDirectory()
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self.addCleanup(temporary.cleanup)
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self.root = Path(temporary.name)
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self.params = SimpleNamespace(get_param_path=lambda key: str(self.root / key))
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def cp(self, identity):
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cp = structs.CarParams.new_message()
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cp.brand, cp.carFingerprint = 'gm', identity
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cp.steerControlType = structs.CarParams.SteerControlType.torque
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tune = cp.lateralTuning.init('torque')
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tune.latAccelFactor, tune.latAccelOffset, tune.friction = 2.0, 0.0, 0.1
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return cp
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def document(self, cp, friction=None):
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if friction is None:
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friction = FieldChoice('custom', .14)
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tune = cp.lateralTuning.torque
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basis = (float(tune.latAccelFactor), float(tune.latAccelOffset), float(tune.friction))
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raw = serialize_document({str(cp.carFingerprint): PlatformProfile(basis, FieldChoice(), friction)})
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(self.root / DOCUMENT_KEY).write_bytes(raw)
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def test_defaults_and_canonical_opt_in(self):
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for identity in BOLT_GENERATIONS:
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with self.subTest(identity=identity):
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cp = self.cp(identity)
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for file in self.root.iterdir():
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file.unlink()
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self.assertFalse(runtime_enabled(cp, self.params))
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self.document(cp)
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self.assertTrue(runtime_enabled(cp, self.params))
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(self.root / 'AdvancedLateralTune').write_bytes(b'0')
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self.assertTrue(runtime_enabled(cp, self.params))
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(self.root / 'AdvancedLateralTune').write_bytes(b'1')
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self.assertTrue(runtime_enabled(cp, self.params))
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def test_retired_flag_is_irrelevant_and_document_read_failure_denies(self):
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cp = self.cp(next(iter(BOLT_GENERATIONS)))
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self.document(cp)
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for raw in (b'true', b'2', b'', b'1\n'):
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(self.root / 'AdvancedLateralTune').write_bytes(raw)
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self.assertTrue(runtime_enabled(cp, self.params))
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with patch('openpilot.starpilot.lateral.torque_runtime._raw', side_effect=PermissionError):
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self.assertFalse(runtime_enabled(cp, self.params))
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def test_opt_in_requires_valid_vehicle_friction_document(self):
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cp = self.cp(next(iter(BOLT_GENERATIONS)))
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(self.root / 'AdvancedLateralTune').write_bytes(b'1')
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self.assertFalse(runtime_enabled(cp, self.params))
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self.document(cp, FieldChoice())
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self.assertFalse(runtime_enabled(cp, self.params))
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self.document(self.cp(list(BOLT_GENERATIONS)[1]))
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self.assertFalse(runtime_enabled(cp, self.params))
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(self.root / DOCUMENT_KEY).write_bytes(b'{bad')
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self.assertFalse(runtime_enabled(cp, self.params))
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self.document(cp)
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(self.root / 'ForceAutoTuneOff').write_bytes(b'bad')
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self.assertFalse(runtime_enabled(cp, self.params))
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def test_actual_controls_host_assignment_defaults_and_saved_choice(self):
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source = Path(__file__).resolve().parents[3] / 'selfdrive/controls/controlsd.py'
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tree = ast.parse(source.read_text())
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controls = next(node for node in tree.body if isinstance(node, ast.ClassDef) and node.name == 'Controls')
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init = next(node for node in controls.body if isinstance(node, ast.FunctionDef) and node.name == '__init__')
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assignment = next(node for node in init.body if isinstance(node, ast.Assign) and
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any(isinstance(target, ast.Attribute) and target.attr == 'torque_host' for target in node.targets))
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code = compile(ast.Module(body=[assignment], type_ignores=[]), str(source), 'exec')
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cp = self.cp('CHEVROLET_BOLT_CC_2018_2021')
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current = SimpleNamespace(CP=cp, params=self.params, torque_learning_allowed=False,
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lateral_controller_selection=SimpleNamespace(policy=None))
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environment = {'self': current, 'TorqueHost': TorqueHost, 'torque_runtime_enabled': runtime_enabled}
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exec(code, environment)
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self.assertIsNone(current.torque_host)
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self.document(cp)
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(self.root / 'AdvancedLateralTune').write_bytes(b'1')
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exec(code, environment)
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self.assertIsInstance(current.torque_host, TorqueHost)
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if __name__ == '__main__':
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unittest.main()
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