mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
173 lines
8.2 KiB
Python
173 lines
8.2 KiB
Python
"""StarPilot's actual callers qualify the unchanged BluePilot library and native safety."""
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import pytest
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from opendbc.car.ford.values import CAR, FordFlags
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from openpilot.starpilot.tests.ford_lifecycle_helpers import FORD_FACTORIES, ford_joined as ford_joined, run_actual_producer
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@pytest.fixture(autouse=True)
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def library_settings(monkeypatch, mode, pinion, topology, request):
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monkeypatch.ford_bluepilot = True
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monkeypatch.ford_angle = mode == 'angle'
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monkeypatch.ford_starpilot = mode == 'starpilot'
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monkeypatch.ford_pinion = pinion
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monkeypatch.ford_topology = topology
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monkeypatch.ford_nonzero = True
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monkeypatch.ford_native_first_pedal = True
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monkeypatch.ford_native_10hz = True
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if request.node.originalname == "test_brake_retains_independent_lateral_intent":
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monkeypatch.ford_brake_pause = .44704
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@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 2), (CAR.FORD_F_150_MK14, 2), (CAR.FORD_ESCAPE_MK4, 0)])
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@pytest.mark.parametrize('alpha', [False, True])
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@pytest.mark.parametrize('hands_free', [False, True])
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@pytest.mark.parametrize('topology', ['automatic', 'manual-multi'])
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@pytest.mark.parametrize('mode', ['curvature', 'angle'])
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@pytest.mark.parametrize('pinion', [False, True])
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def test_library_angle_curvature_aol_native_lifecycle(ford_joined, monkeypatch):
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assert ford_joined.host.CI.CC.bp.bp_lateral_allowed
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run_actual_producer(ford_joined, monkeypatch, scenario='configuration-parity')
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assert ford_joined.nonzero_after_brake > 0
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if ford_joined.host.CP.flags & FordFlags.CANFD:
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assert ford_joined.active_ui_frames > 0
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@pytest.mark.parametrize('identity,alpha,hands_free,topology,pinion', [
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((CAR.FORD_MUSTANG_MACH_E_MK1, 2), True, True, 'automatic', False),
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])
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@pytest.mark.parametrize('mode', ['curvature', 'angle', 'starpilot'])
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def test_model_loss_still_withdraws_library_output_through_actual_callers(ford_joined, monkeypatch):
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run_actual_producer(ford_joined, monkeypatch, scenario='model-loss')
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@pytest.mark.parametrize('identity,alpha,hands_free', [
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((CAR.FORD_MUSTANG_MACH_E_MK1, 2), True, True),
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])
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@pytest.mark.parametrize('topology', ['automatic', 'manual-multi'])
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@pytest.mark.parametrize('mode', ['angle', 'curvature'])
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@pytest.mark.parametrize('pinion', [False, True])
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def test_gas_held_first_engagement(ford_joined, monkeypatch, mode, pinion):
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run_actual_producer(ford_joined, monkeypatch, scenario='bluepilot-gas')
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@pytest.mark.parametrize('identity,alpha,hands_free,topology,mode,pinion', [
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((CAR.FORD_MUSTANG_MACH_E_MK1, 2), True, True, 'automatic', 'angle', True),
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])
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def test_sustained_real_loop_lag_still_disables_ford(ford_joined, monkeypatch):
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monkeypatch.ford_sustained_lag = True
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run_actual_producer(ford_joined, monkeypatch, scenario='bluepilot-gas')
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@pytest.mark.parametrize('identity,alpha,hands_free,topology,pinion', [
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((CAR.FORD_MUSTANG_MACH_E_MK1, 2), True, True, 'automatic', False),
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])
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@pytest.mark.parametrize('mode', ['curvature', 'angle'])
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@pytest.mark.parametrize('phase', range(10))
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def test_cancel_at_every_native_receipt_phase(ford_joined, monkeypatch, phase):
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monkeypatch.ford_cancel_phase = phase
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run_actual_producer(ford_joined, monkeypatch, scenario='cancel-native-cadence')
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@pytest.mark.parametrize('identity,alpha,hands_free,topology,pinion', [
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((CAR.FORD_MUSTANG_MACH_E_MK1, 2), True, True, 'automatic', False),
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])
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@pytest.mark.parametrize('mode', ['curvature', 'angle'])
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def test_manual_eps_refusal_keeps_aol_intent_without_steering_through_fault(ford_joined, monkeypatch):
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monkeypatch.ford_eps_alpha = True
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run_actual_producer(ford_joined, monkeypatch, scenario='route45')
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@pytest.mark.parametrize('identity,alpha,hands_free,topology,pinion', [
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((CAR.FORD_MUSTANG_MACH_E_MK1, 2), True, True, 'automatic', False),
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])
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@pytest.mark.parametrize('mode', ['curvature', 'angle'])
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def test_cruise_resume_preserves_deliberate_lateral_pause(ford_joined, monkeypatch):
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run_actual_producer(ford_joined, monkeypatch, scenario='bluepilot-pause')
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@pytest.mark.parametrize('identity,alpha,hands_free,topology,pinion', [
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((CAR.FORD_MUSTANG_MACH_E_MK1, 2), True, True, 'automatic', False),
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])
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@pytest.mark.parametrize('mode', ['curvature', 'angle'])
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def test_manual_steering_retires_held_turn_limit_alert(ford_joined, monkeypatch):
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run_actual_producer(ford_joined, monkeypatch, scenario='bluepilot-manual-alert')
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@pytest.mark.parametrize('identity,alpha,hands_free,topology,pinion', [
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((CAR.FORD_MUSTANG_MACH_E_MK1, 2), True, True, 'automatic', False),
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])
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@pytest.mark.parametrize('mode', ['curvature', 'angle'])
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@pytest.mark.parametrize('brake', [False, True], ids=['cancel', 'brake'])
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def test_fresh_cruise_withdrawal_after_previous_output_expires(ford_joined, monkeypatch, brake):
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monkeypatch.ford_gap_brake = brake
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run_actual_producer(ford_joined, monkeypatch, scenario='bluepilot-cancel-gap')
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@pytest.mark.parametrize('identity,alpha,hands_free,topology,mode,pinion', [
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((CAR.FORD_MUSTANG_MACH_E_MK1, 2), True, True, 'automatic', 'curvature', False),
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])
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@pytest.mark.parametrize('speed', [12.4, 13.6, 16., 25.])
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@pytest.mark.parametrize('sign', [-1., 1.])
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@pytest.mark.parametrize('gas', [False, True])
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@pytest.mark.parametrize('manual', [False, True])
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def test_reengaging_in_a_manual_curve_respects_native_convergence(ford_joined, monkeypatch, speed, sign, gas, manual):
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monkeypatch.ford_curve_speed = speed
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monkeypatch.ford_curve_sign = sign
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monkeypatch.ford_curve_gas = gas
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monkeypatch.ford_curve_manual = manual
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run_actual_producer(ford_joined, monkeypatch, scenario='curvature-handoff')
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@pytest.mark.parametrize('identity,hands_free', [
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((CAR.FORD_MUSTANG_MACH_E_MK1, 2), True),
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])
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@pytest.mark.parametrize('alpha', [False, True])
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@pytest.mark.parametrize('topology', ['automatic', 'manual-multi'])
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@pytest.mark.parametrize('mode', ['curvature', 'angle', 'starpilot'])
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@pytest.mark.parametrize('pinion', [False, True])
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@pytest.mark.parametrize('brake_pause', [False, True], ids=['overlap', 'pause'])
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def test_brake_retains_independent_lateral_intent(ford_joined, monkeypatch, brake_pause):
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run_actual_producer(ford_joined, monkeypatch, scenario='brake-pause' if brake_pause else 'brake-overlap')
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@pytest.mark.parametrize('identity', [identity for identity in FORD_FACTORIES if not identity[0].config.flags & FordFlags.LKA_STEERING])
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@pytest.mark.parametrize('pinion', [False, True])
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@pytest.mark.parametrize('alpha', [False, True])
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@pytest.mark.parametrize('topology', ['automatic', 'manual-multi'])
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@pytest.mark.parametrize('mode,hands_free', [('starpilot', True)])
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def test_starpilot_controller_uses_current_native_aol_path(ford_joined, monkeypatch):
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run_actual_producer(ford_joined, monkeypatch, scenario='configuration-parity')
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assert ford_joined.host.CI.CC.bp.starpilot_selected
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assert ford_joined.nonzero_after_brake > 0
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@pytest.mark.parametrize('identity,mode,hands_free', [
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((CAR.FORD_MUSTANG_MACH_E_MK1, 2), 'starpilot', True),
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])
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@pytest.mark.parametrize('alpha', [False, True])
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@pytest.mark.parametrize('topology', ['automatic', 'manual-multi'])
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@pytest.mark.parametrize('pinion', [False, True])
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def test_starpilot_low_speed_assistance_survives_brake_with_native_limits(ford_joined, monkeypatch):
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ford_joined.speed = 3.1
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monkeypatch.ford_test_curvature = .03
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run_actual_producer(ford_joined, monkeypatch, scenario='configuration-parity')
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assert ford_joined.path_angle_after_brake > 0
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@pytest.mark.parametrize('identity', [identity for identity in FORD_FACTORIES if identity[0].config.flags & FordFlags.LKA_STEERING])
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@pytest.mark.parametrize('pinion', [False, True])
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@pytest.mark.parametrize('alpha', [False, True])
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@pytest.mark.parametrize('topology', ['automatic', 'manual-multi'])
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@pytest.mark.parametrize('mode,hands_free', [('starpilot', True)])
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def test_saved_starpilot_selection_cannot_enable_unsupported_lmc_path(ford_joined, monkeypatch):
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assert ford_joined.host.CP.flags & FordFlags.LKA_STEERING
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assert not ford_joined.host.CI.CC.bp.bp_lateral_allowed
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# The nonzero-demand helper measures LMC fields; this platform steers through LKA only.
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monkeypatch.ford_nonzero = False
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run_actual_producer(ford_joined, monkeypatch, scenario='configuration-parity')
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assert not ford_joined.host.CI.CC.bp.bp_lateral_allowed
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assert ford_joined.last_lateral_packets
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assert all(address == 0x3CA for address, _ in ford_joined.last_lateral_packets)
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