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firestar5683
115 lines
3.6 KiB
Python
115 lines
3.6 KiB
Python
from types import SimpleNamespace
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import pytest
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from cereal import car
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from opendbc.car.ford.values import CAR as FORD_CAR
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from openpilot.system.manager.process_config import allow_uploads, camera_run, managed_processes, sentry_mode, ublox
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class FakeParams:
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def __init__(self, always_allow_uploads: bool = False):
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self.always_allow_uploads = always_allow_uploads
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def get_bool(self, key: str) -> bool:
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assert key == "AlwaysAllowUploads"
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return self.always_allow_uploads
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@pytest.mark.parametrize(
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"started,no_uploads,no_onroad_uploads,always_allow_uploads,expected",
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[
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(True, False, False, False, True),
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(False, False, False, False, True),
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(True, True, False, False, False),
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(False, True, False, False, False),
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(True, True, True, False, False),
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(False, True, True, False, True),
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(True, True, False, True, True),
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],
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)
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def test_allow_uploads(started, no_uploads, no_onroad_uploads, always_allow_uploads, expected):
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params = FakeParams(always_allow_uploads)
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toggles = SimpleNamespace(no_uploads=no_uploads, no_onroad_uploads=no_onroad_uploads)
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assert allow_uploads(started, params, car.CarParams.new_message(), toggles) is expected
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def test_uploader_runs_at_background_priority():
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assert managed_processes["uploader"].nice == 19
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class CameraParams:
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def __init__(self, capture: bool):
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self.capture = capture
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def get_bool(self, key: str) -> bool:
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assert key in {"IsDriverViewEnabled", "SentryModeCapture"}
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return self.capture if key == "SentryModeCapture" else False
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@pytest.mark.parametrize(
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"started,capture,expected",
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[
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(False, True, True),
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(False, False, False),
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(True, False, True),
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],
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)
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def test_camera_run_preserves_onroad_camera_and_offroad_sentry_capture(started, capture, expected):
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assert camera_run(started, CameraParams(capture), car.CarParams.new_message(), SimpleNamespace()) is expected
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class SentryParams:
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def __init__(self, enabled: bool):
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self.enabled = enabled
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def get_bool(self, key: str) -> bool:
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assert key == "SentryModeEnabled"
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return self.enabled
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@pytest.mark.parametrize("started,enabled,expected", [(True, True, False), (False, True, True), (False, False, False)])
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def test_sentry_process_is_offroad_only(started, enabled, expected):
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assert sentry_mode(started, SentryParams(enabled), car.CarParams.new_message(), SimpleNamespace()) is expected
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class GpsParams:
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def __init__(self, CP=None):
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self.values = {}
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if CP is not None:
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self.values["CarParams"] = CP.to_bytes()
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def get(self, key: str):
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return self.values.get(key)
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def get_bool(self, key: str) -> bool:
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return bool(self.values.get(key, False))
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def put_bool(self, key: str, value: bool):
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self.values[key] = value
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def test_ublox_waits_for_current_carparams(monkeypatch):
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monkeypatch.setattr("openpilot.system.manager.process_config.ublox_available", lambda: True)
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params = GpsParams()
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assert not ublox(True, params, car.CarParams.new_message(), SimpleNamespace())
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assert params.get_bool("UbloxAvailable")
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@pytest.mark.parametrize("car_gps,expected", [(False, True), (True, False)])
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def test_ublox_has_single_external_gps_publisher(monkeypatch, car_gps, expected):
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monkeypatch.setattr("openpilot.system.manager.process_config.ublox_available", lambda: True)
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CP = car.CarParams.new_message()
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if car_gps:
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CP.brand = "ford"
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CP.carFingerprint = FORD_CAR.FORD_MUSTANG_MACH_E_MK1
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else:
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CP.brand = "mock"
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CP.carFingerprint = "mock"
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params = GpsParams(CP)
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assert ublox(True, params, car.CarParams.new_message(), SimpleNamespace()) is expected
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assert params.get_bool("CarGpsAvailable") is car_gps
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