mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
alan-polk
8da0c9d916
StarPilot's angle-only bluepilot_lateral adaptation and the BluePilot-derived curvature strategies (Mach-E, classic, Explorer, generic CAN FD, new-port curvature, manual-turn latch, curvature preview, pinion measurement) are removed, with their extended safety profiles 16/32/64 and the interim angle word 128. Ford lateral is upstream's stock curvature path until the BluePilot lateral library is mounted. StarPilot's own Ford features stay, re-keyed from the extended words to the stock ones: - AOL: classic 32 -> 0, Mach-E 18 and the CAN FD trucks 66 -> 2 (+1 with openpilot long); the CAN FD retained-display rules apply to word 2. Edge/Mondeo/Transit and the manual bit (256) are unchanged. - release CAN FD long: word 3 (was 19/67); 19 and 67 are now retired and denied. - stock cruise switch, CAN FD camera-lead radar handling, hands-free cluster: keyed on the Ford family. - classic stock ACC (0) keeps the no-ACCDATA TX list the extended classic profile had. Bits 9-14 of the Ford param are reserved for the BluePilot lateral library's startup bits (safety/modes/ford_param.h); AOL and pandad mask them out of the profile word. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
124 lines
6.4 KiB
Python
124 lines
6.4 KiB
Python
import unittest
|
|
|
|
from opendbc.car import structs
|
|
from openpilot.starpilot.aol.intent import AolSettings, AOL_TOGGLE
|
|
from openpilot.starpilot.car.ford.aol import FordCardIntent
|
|
|
|
|
|
class TestFordAolIntent(unittest.TestCase):
|
|
def intent(self, lkas=0):
|
|
return FordCardIntent(None, AolSettings(True, 0.0, lkas, 0, (0, 0, 0), (0, 0, 0)))
|
|
|
|
def frame(self, intent, *, main, button=None, valid=True, gear=None, temporary=False, now=1):
|
|
cs = structs.CarState(canValid=valid, steerFaultTemporary=temporary,
|
|
gearShifter=gear or structs.CarState.GearShifter.drive)
|
|
cs.cruiseState.available = main
|
|
if button is not None:
|
|
cs.buttonEvents = [structs.CarState.ButtonEvent(type=structs.CarState.ButtonEvent.Type.lkas, pressed=button)]
|
|
intent.update(cs.as_reader(), now_ns=now)
|
|
return cs
|
|
|
|
def test_main_pulse_releases_before_tja_toggle(self):
|
|
intent = self.intent()
|
|
self.frame(intent, main=False)
|
|
self.frame(intent, main=True, now=2)
|
|
self.assertFalse(intent.allowed_latch) # Prior MAIN-off feedback still owns this frame.
|
|
self.frame(intent, main=True, now=3)
|
|
self.assertTrue(intent.allowed_latch)
|
|
self.frame(intent, main=True, now=4)
|
|
self.assertFalse(intent._main_held)
|
|
self.frame(intent, main=True, button=True, now=5)
|
|
self.assertFalse(intent.allowed_latch)
|
|
self.frame(intent, main=True, button=False, now=6)
|
|
self.frame(intent, main=True, button=True, now=7)
|
|
self.assertTrue(intent.allowed_latch)
|
|
|
|
def test_lkas_managed_with_main_already_on(self):
|
|
intent = self.intent(AOL_TOGGLE)
|
|
self.frame(intent, main=True)
|
|
self.assertFalse(intent.allowed_latch)
|
|
self.frame(intent, main=True, button=True, now=2)
|
|
self.assertTrue(intent.allowed_latch)
|
|
|
|
def test_temporary_state_retains_intent_but_rx_loss_does_not(self):
|
|
intent = self.intent()
|
|
self.frame(intent, main=False)
|
|
self.frame(intent, main=True, now=2)
|
|
self.frame(intent, main=True, now=3)
|
|
reverse = self.frame(intent, main=True, gear=structs.CarState.GearShifter.reverse, now=4)
|
|
self.assertTrue(intent.allowed_latch)
|
|
self.assertFalse(intent.output(reverse.as_reader())[0])
|
|
self.frame(intent, main=True, temporary=True, now=5)
|
|
self.assertTrue(intent.allowed_latch)
|
|
self.frame(intent, main=True, valid=False, now=6)
|
|
self.assertFalse(intent.allowed_latch)
|
|
self.frame(intent, main=True, now=7)
|
|
self.assertFalse(intent.allowed_latch)
|
|
|
|
|
|
def test_unassigned_cancel_preserves_but_never_arms_lateral(self):
|
|
intent = self.intent(AOL_TOGGLE)
|
|
state = self.frame(intent, main=True)
|
|
state.buttonEvents = [structs.CarState.ButtonEvent(type=structs.CarState.ButtonEvent.Type.cancel, pressed=True)]
|
|
intent.update(state.as_reader(), now_ns=2)
|
|
self.assertFalse(intent.allowed_latch)
|
|
self.frame(intent, main=True, button=True, now=3)
|
|
self.assertTrue(intent.allowed_latch)
|
|
intent.update(state.as_reader(), now_ns=4)
|
|
self.assertTrue(intent.allowed_latch)
|
|
intent.update(state.as_reader(), now_ns=5, native_rejection_ns=5)
|
|
self.assertFalse(intent.allowed_latch)
|
|
|
|
def test_configured_cancel_keeps_existing_lateral_withdrawal(self):
|
|
from dataclasses import replace
|
|
intent = self.intent(AOL_TOGGLE)
|
|
intent.settings = replace(intent.settings, cancel_actions=(1, 0, 0))
|
|
self.frame(intent, main=True)
|
|
self.frame(intent, main=True, button=True, now=2)
|
|
self.assertTrue(intent.allowed_latch)
|
|
state = self.frame(intent, main=True, button=False, now=3)
|
|
state.buttonEvents = [structs.CarState.ButtonEvent(type=structs.CarState.ButtonEvent.Type.cancel, pressed=True)]
|
|
intent.update(state.as_reader(), now_ns=4)
|
|
self.assertFalse(intent.allowed_latch)
|
|
|
|
def test_cancel_exception_requires_current_granted_same_owner_lateral(self):
|
|
from dataclasses import replace
|
|
from opendbc.car.ford.values import CAR, FordFlags
|
|
from openpilot.starpilot.aol.runtime import AxisDecision
|
|
from openpilot.starpilot.aol.wire import IntentState, PandaSlot, SafetyState
|
|
from openpilot.starpilot.car.ford.aol import physical_cancel_lateral_allowed
|
|
now = 1_000_000_000
|
|
cp = structs.CarParams(brand='ford', carFingerprint=CAR.FORD_MUSTANG_MACH_E_MK1,
|
|
flags=int(FordFlags.CANFD), pcmCruise=True, openpilotLongitudinalControl=True,
|
|
alternativeExperience=32, steerControlType=structs.CarParams.SteerControlType.angle,
|
|
transmissionType=structs.CarParams.TransmissionType.automatic,
|
|
safetyConfigs=[structs.CarParams.SafetyConfig(safetyModel=structs.CarParams.SafetyModel.ford, safetyParam=3)])
|
|
state = structs.CarState(canValid=True, gearShifter=structs.CarState.GearShifter.drive,
|
|
buttonEvents=[structs.CarState.ButtonEvent(type=structs.CarState.ButtonEvent.Type.cancel, pressed=True)])
|
|
state.cruiseState.available = True
|
|
settings = AolSettings(True, 0., AOL_TOGGLE, 0, (0, 0, 0), (0, 0, 0))
|
|
intent = IntentState('card', 1, now, now, now + 200_000_000, True, False, False, True, True)
|
|
previous = AxisDecision(True, True, True, True, True)
|
|
slot = PandaSlot(0, 'panda', int(structs.CarParams.SafetyModel.ford), 3, 32, True, False)
|
|
native = SafetyState(1, True, now, now + 200_000_000, slot.safetyModel, 3, True, False,
|
|
True, True, 'panda', 'axis', now, (slot,))
|
|
def allowed(**changes):
|
|
args = {'settings': settings, 'previous': previous, 'source_ns': now, 'now_ns': now, 'axis_session_id': 'axis'}
|
|
value = changes.pop('native', native)
|
|
driver = changes.pop('intent', intent)
|
|
args.update(changes)
|
|
return physical_cancel_lateral_allowed(cp, state.as_reader(), driver, value, **args)
|
|
self.assertTrue(allowed())
|
|
for value in (None, replace(native, lateralAllowed=False), replace(native, compatible=False),
|
|
replace(native, validUntilMonoTime=now - 1), replace(native, axisSessionId='other'),
|
|
replace(native, safetyParam=147), replace(native, pandaSerial='other'),
|
|
replace(native, pandaInventory=(replace(slot, faults=1),)),
|
|
replace(native, pandaInventory=(replace(slot, heartbeatLost=True),)),
|
|
replace(native, pandaInventory=(replace(slot, safetyRxChecksInvalid=True),))):
|
|
with self.subTest(native=value):
|
|
self.assertFalse(allowed(native=value))
|
|
self.assertFalse(allowed(intent=replace(intent, allowedLatch=False)))
|
|
self.assertFalse(allowed(previous=AxisDecision()))
|
|
self.assertFalse(allowed(source_ns=now - 1))
|
|
self.assertFalse(allowed(settings=replace(settings, cancel_actions=(1, 0, 0))))
|