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>
17 lines
729 B
Python
17 lines
729 B
Python
import pytest
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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 configuration(monkeypatch, request):
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monkeypatch.ford_topology = request.node.callspec.params['topology']
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@pytest.mark.parametrize('identity', [FORD_FACTORIES[11]])
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@pytest.mark.parametrize('alpha', [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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def test_main_off_neutral_cluster_and_actual_native_reengagement(ford_joined, monkeypatch, topology):
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monkeypatch.ford_native_10hz = True
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run_actual_producer(ford_joined, monkeypatch, scenario='neutral-main-cadence')
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