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https://github.com/firestar5683/StarPilot.git
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firestar5683
66 lines
3.5 KiB
Python
66 lines
3.5 KiB
Python
"""A real reverse withdrawal may precede the 10Hz native request echo; it never permits output."""
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from dataclasses import replace
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import pytest
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from opendbc.car import structs
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from opendbc.car.ford.values import CAR, FordFlags
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from openpilot.starpilot.aol.tests.test_reverse_source_gap import NOW, PRODUCER, SESSION, sample, change
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from openpilot.starpilot.aol.transport_pause import TransportPauseFeedback
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from openpilot.starpilot.aol.wire import encode_safety
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from openpilot.starpilot.car.ford.command_pause import retain_gear_withdrawal_intent
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@pytest.mark.parametrize('gap', [False, True])
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@pytest.mark.parametrize('fault', ['none', 'expired_baseline', 'drive', 'can', 'eps', 'unlatched', 'producer',
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'axis_active', 'axis_source', 'events', 'native_allow', 'native_long', 'native_fault',
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'native_expired', 'inventory'])
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def test_ford_reverse_native_withdrawal_preserves_only_bounded_existing_intent(fault, gap):
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cp = structs.CarParams(brand='ford', carFingerprint=CAR.FORD_MUSTANG_MACH_E_MK1,
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flags=int(FordFlags.CANFD), alternativeExperience=32, steerControlType='angle', transmissionType='automatic',
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pcmCruise=True, safetyConfigs=[structs.CarParams.SafetyConfig(safetyModel='ford', safetyParam=0x4002)])
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cs = structs.CarState(canValid=True, gearShifter='drive')
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cs.cruiseState.available = True
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feedback = TransportPauseFeedback(cp)
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active, _ = sample(cp, NOW - 10_000_000, active=True)
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assert not feedback.observe(active, cp, cs, NOW - 10_000_000, latched=True, intent_producer_session=PRODUCER)
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cs.gearShifter = 'reverse'
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now = NOW + (190_000_001 if fault == 'expired_baseline' else 10_000_000)
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sm, native = sample(cp, now, 2, gap=gap)
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native = replace(native, requestedLateral=True)
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producer, latched = PRODUCER, fault != 'unlatched'
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if fault == 'drive':
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cs.gearShifter = 'drive'
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elif fault == 'can':
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cs.canValid = False
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elif fault == 'eps':
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cs.steerFaultTemporary = True
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elif fault == 'producer':
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producer = 'different'
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elif fault in ('axis_active', 'axis_source'):
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change(sm, 'aolAxisState', lambda a: setattr(a, 'lateralActive' if fault == 'axis_active' else 'sourceCarStateMonoTime',
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True if fault == 'axis_active' else now + 1))
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elif fault == 'events':
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sm.valid['onroadEvents'] = False
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elif fault == 'native_allow':
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native = replace(native, lateralAllowed=True)
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elif fault == 'native_long':
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native = replace(native, requestedLongitudinal=True, longitudinalAllowed=True)
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elif fault == 'native_fault':
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native = replace(native, pandaInventory=(replace(native.pandaInventory[0], heartbeatLost=True),))
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elif fault == 'native_expired':
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native = replace(native, validUntilMonoTime=now - 1)
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elif fault == 'inventory':
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native = replace(native, pandaSerial='changed', pandaInventory=(replace(native.pandaInventory[0], hardwareSerial='changed'),))
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wire = sm.messages['aolSafetyWire'].as_builder()
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wire.aolSafetyWire = encode_safety(native)
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sm.messages['aolSafetyWire'] = wire.as_reader()
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before = dict(vars(feedback))
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retained = retain_gear_withdrawal_intent(feedback, sm, cp, cs, sm['aolAxisState'], now,
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latched=latched, producer=producer)
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assert retained == (fault == 'none')
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assert vars(feedback) == before
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if retained:
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assert not sm['aolAxisState'].lateralActive and not sm['aolAxisState'].longitudinalActive
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assert native.axisSessionId == SESSION
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