mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
122 lines
3.4 KiB
Python
122 lines
3.4 KiB
Python
from types import SimpleNamespace
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from openpilot.selfdrive.car.cruise import ButtonType
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from openpilot.starpilot.controls import starpilot_card as sc
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class FakeParams:
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def __init__(self, *args, **kwargs):
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self.values = {}
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def get_bool(self, key):
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return bool(self.values.get(key, False))
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def get_int(self, key, default=0):
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return int(self.values.get(key, default))
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def put_bool(self, key, value):
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self.values[key] = bool(value)
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def put_int(self, key, value):
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self.values[key] = int(value)
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def put_bool_nonblocking(self, key, value):
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self.put_bool(key, value)
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class FakeSubMaster(dict):
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def __init__(self, *args, updated=None, **kwargs):
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super().__init__(*args, **kwargs)
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self.updated = updated or {}
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def build_card(monkeypatch):
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monkeypatch.setattr(sc, "Params", FakeParams)
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monkeypatch.setattr(sc.messaging, "PubMaster", lambda *_args, **_kwargs: SimpleNamespace(send=lambda *_a, **_k: None))
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monkeypatch.setattr(sc, "is_FrogsGoMoo", lambda: False)
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cp = SimpleNamespace(brand="hyundai", openpilotLongitudinalControl=True)
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fpcp = SimpleNamespace(alternativeExperience=0)
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return sc.StarPilotCard(cp, fpcp)
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def build_sm(long_active):
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return FakeSubMaster({
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"carControl": SimpleNamespace(longActive=long_active),
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"selfdriveState": SimpleNamespace(active=True, enabled=True, experimentalMode=False, alertType=[]),
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"starpilotPlan": SimpleNamespace(lateralCheck=True),
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"liveCalibration": SimpleNamespace(calPerc=1),
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"starpilotSelfdriveState": SimpleNamespace(alertType=[]),
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}, updated={"starpilotPlan": False})
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def build_car_state(button_events):
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return SimpleNamespace(
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buttonEvents=button_events,
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cruiseState=SimpleNamespace(available=False),
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gearShifter=sc.GearShifter.drive,
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brakePressed=False,
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gasPressed=False,
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standstill=False,
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vEgo=15.0,
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)
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def build_starpilot_car_state():
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return SimpleNamespace(
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distancePressed=False,
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modePressed=False,
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customPressed=False,
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)
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def build_toggles(nostalgia_mode):
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return SimpleNamespace(
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nostalgia_mode=nostalgia_mode,
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always_on_lateral_lkas=False,
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always_on_lateral_main=False,
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always_on_lateral_pause_speed=0.0,
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has_canfd_media_buttons=False,
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)
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def test_nostalgia_mode_paddle_pauses_longitudinal(monkeypatch):
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card = build_card(monkeypatch)
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car_state = build_car_state([SimpleNamespace(type=ButtonType.altButton2, pressed=True)])
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starpilot_car_state = build_starpilot_car_state()
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ret = card.update(car_state, starpilot_car_state, build_sm(True), build_toggles(True))
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assert ret.pauseLongitudinal is True
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def test_nostalgia_mode_resume_button_clears_pause(monkeypatch):
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card = build_card(monkeypatch)
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toggles = build_toggles(True)
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card.update(
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build_car_state([SimpleNamespace(type=ButtonType.altButton2, pressed=True)]),
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build_starpilot_car_state(),
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build_sm(True),
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toggles,
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)
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ret = card.update(
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build_car_state([SimpleNamespace(type=ButtonType.resumeCruise, pressed=True)]),
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build_starpilot_car_state(),
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build_sm(False),
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toggles,
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)
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assert ret.pauseLongitudinal is False
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def test_nostalgia_mode_off_ignores_paddle(monkeypatch):
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card = build_card(monkeypatch)
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car_state = build_car_state([SimpleNamespace(type=ButtonType.altButton2, pressed=True)])
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starpilot_car_state = build_starpilot_car_state()
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ret = card.update(car_state, starpilot_car_state, build_sm(True), build_toggles(False))
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assert ret.pauseLongitudinal is False
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