mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-01 03:22:07 +08:00
firestar5683
442 lines
17 KiB
Python
442 lines
17 KiB
Python
from types import SimpleNamespace
|
|
|
|
from opendbc.car.chrysler.values import CAR as CHRYSLER_CAR
|
|
|
|
from openpilot.common.params import ParamKeyType
|
|
from openpilot.starpilot.common.favorite_slots import FAVORITE_SLOTS_PARAM
|
|
from openpilot.starpilot.controls import starpilot_card as spc
|
|
|
|
|
|
class FakeParams:
|
|
def __init__(self, *args, **kwargs):
|
|
self._store = {}
|
|
self._types = {
|
|
FAVORITE_SLOTS_PARAM: ParamKeyType.JSON,
|
|
"RedneckCruise": ParamKeyType.BOOL,
|
|
}
|
|
|
|
def get(self, key):
|
|
return self._store.get(key)
|
|
|
|
def get_bool(self, key):
|
|
return bool(self._store.get(key, False))
|
|
|
|
def put_bool(self, key, value):
|
|
self._store[key] = bool(value)
|
|
|
|
def put(self, key, value):
|
|
self._store[key] = value
|
|
|
|
def get_int(self, key, default=0):
|
|
return int(self._store.get(key, default))
|
|
|
|
def put_int(self, key, value):
|
|
self._store[key] = int(value)
|
|
|
|
def put_bool_nonblocking(self, key, value):
|
|
self.put_bool(key, value)
|
|
|
|
def get_type(self, key):
|
|
return self._types.get(key, ParamKeyType.STRING)
|
|
|
|
|
|
class FakeSM(dict):
|
|
def __init__(self, *args, updated=None, **kwargs):
|
|
super().__init__(*args, **kwargs)
|
|
self.updated = updated or {}
|
|
|
|
|
|
def make_sm():
|
|
return FakeSM({
|
|
"carControl": SimpleNamespace(longActive=False),
|
|
"selfdriveState": SimpleNamespace(active=False, alertType=[], experimentalMode=False),
|
|
"starpilotSelfdriveState": SimpleNamespace(alertType=[]),
|
|
"starpilotPlan": SimpleNamespace(lateralCheck=True),
|
|
"liveCalibration": SimpleNamespace(calPerc=100),
|
|
}, updated={"starpilotPlan": False})
|
|
|
|
|
|
def make_toggles(**overrides):
|
|
defaults = {
|
|
"always_on_lateral": False,
|
|
"always_on_lateral_lkas": False,
|
|
"always_on_lateral_main": False,
|
|
"always_on_lateral_pause_speed": 0.0,
|
|
"bookmark_via_cancel": False,
|
|
"bookmark_via_cancel_long": False,
|
|
"bookmark_via_cancel_very_long": False,
|
|
"bookmark_via_lkas": False,
|
|
"conditional_experimental_mode": False,
|
|
"experimental_mode_via_lkas": False,
|
|
"force_coast_via_lkas": False,
|
|
"lkas_allowed_for_aol": False,
|
|
"main_cruise_aol_toggle": False,
|
|
"main_cruise_slc_adopt": False,
|
|
"pause_lateral_via_lkas": False,
|
|
"pause_longitudinal_via_lkas": False,
|
|
"speed_limit_controller": False,
|
|
"switchback_mode_via_lkas": False,
|
|
"traffic_mode_via_lkas": False,
|
|
}
|
|
defaults.update(overrides)
|
|
return SimpleNamespace(**defaults)
|
|
|
|
|
|
def make_car_state(available=False, enabled=False, button_events=None):
|
|
return SimpleNamespace(
|
|
buttonEvents=button_events or [],
|
|
cruiseState=SimpleNamespace(available=available, enabled=enabled),
|
|
gearShifter=spc.GearShifter.drive,
|
|
brakePressed=False,
|
|
gasPressed=False,
|
|
standstill=False,
|
|
vEgo=15.0,
|
|
)
|
|
|
|
|
|
def make_wrapped_button_event(button_type, pressed):
|
|
return SimpleNamespace(type=SimpleNamespace(raw=int(button_type)), pressed=pressed)
|
|
|
|
|
|
def test_honda_lkas_button_can_toggle_always_on_lateral(monkeypatch, tmp_path):
|
|
monkeypatch.setattr(spc, "Params", FakeParams)
|
|
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
|
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
|
|
|
card = spc.StarPilotCard(SimpleNamespace(brand="honda"), SimpleNamespace(alternativeExperience=0))
|
|
|
|
car_state = make_car_state(button_events=[SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)])
|
|
starpilot_car_state = SimpleNamespace(distancePressed=False)
|
|
sm = make_sm()
|
|
toggles = make_toggles(always_on_lateral_lkas=True, lkas_allowed_for_aol=True)
|
|
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
|
|
assert ret.alwaysOnLateralAllowed is True
|
|
assert ret.pauseLateral is False
|
|
|
|
|
|
def test_hyundai_lkas_button_can_start_aol_before_normal_engagement(monkeypatch, tmp_path):
|
|
monkeypatch.setattr(spc, "Params", FakeParams)
|
|
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
|
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
|
|
|
card = spc.StarPilotCard(
|
|
SimpleNamespace(brand="hyundai"),
|
|
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
|
|
)
|
|
|
|
car_state = make_car_state(available=True, button_events=[
|
|
SimpleNamespace(type=spc.ButtonType.decelCruise, pressed=True),
|
|
SimpleNamespace(type=spc.ButtonType.lkas, pressed=True),
|
|
])
|
|
starpilot_car_state = SimpleNamespace(distancePressed=False)
|
|
sm = make_sm()
|
|
toggles = make_toggles(always_on_lateral=True, always_on_lateral_lkas=True)
|
|
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
|
|
assert ret.alwaysOnLateralAllowed is True
|
|
assert ret.alwaysOnLateralEnabled is True
|
|
|
|
car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)]
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
|
|
assert ret.alwaysOnLateralAllowed is False
|
|
assert ret.pauseLateral is False
|
|
|
|
|
|
def test_hyundai_aol_does_not_auto_start_from_cruise_availability(monkeypatch, tmp_path):
|
|
monkeypatch.setattr(spc, "Params", FakeParams)
|
|
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
|
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
|
|
|
card = spc.StarPilotCard(
|
|
SimpleNamespace(brand="hyundai"),
|
|
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
|
|
)
|
|
|
|
ret = card.update(make_car_state(available=True), SimpleNamespace(distancePressed=False), make_sm(),
|
|
make_toggles(always_on_lateral=True, always_on_lateral_lkas=True))
|
|
|
|
assert ret.alwaysOnLateralAllowed is False
|
|
assert ret.alwaysOnLateralEnabled is False
|
|
|
|
|
|
def test_hyundai_canfd_lkas_button_can_toggle_aol_before_engagement(monkeypatch, tmp_path):
|
|
monkeypatch.setattr(spc, "Params", FakeParams)
|
|
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
|
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
|
|
|
card = spc.StarPilotCard(
|
|
SimpleNamespace(brand="hyundai", flags=spc.HyundaiFlags.CANFD),
|
|
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
|
|
)
|
|
|
|
car_state = make_car_state(available=True, button_events=[SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)])
|
|
starpilot_car_state = SimpleNamespace(distancePressed=False)
|
|
sm = make_sm()
|
|
toggles = make_toggles(always_on_lateral=True, always_on_lateral_lkas=True)
|
|
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
|
|
assert ret.alwaysOnLateralAllowed is True
|
|
assert ret.alwaysOnLateralEnabled is True
|
|
|
|
|
|
def test_hyundai_canfd_lkas_button_wrapped_enum_can_toggle_aol(monkeypatch, tmp_path):
|
|
monkeypatch.setattr(spc, "Params", FakeParams)
|
|
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
|
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
|
|
|
card = spc.StarPilotCard(
|
|
SimpleNamespace(brand="hyundai", flags=spc.HyundaiFlags.CANFD),
|
|
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
|
|
)
|
|
|
|
car_state = make_car_state(available=True, button_events=[make_wrapped_button_event(spc.ButtonType.lkas, True)])
|
|
starpilot_car_state = SimpleNamespace(distancePressed=False)
|
|
sm = make_sm()
|
|
toggles = make_toggles(always_on_lateral=True, always_on_lateral_lkas=True)
|
|
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
assert ret.alwaysOnLateralAllowed is True
|
|
assert ret.alwaysOnLateralEnabled is True
|
|
|
|
car_state.buttonEvents = [make_wrapped_button_event(spc.ButtonType.lkas, True)]
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
assert ret.alwaysOnLateralAllowed is False
|
|
assert ret.alwaysOnLateralEnabled is False
|
|
|
|
|
|
def test_kia_forte_non_scc_main_cruise_button_can_toggle_aol_before_engagement(monkeypatch, tmp_path):
|
|
monkeypatch.setattr(spc, "Params", FakeParams)
|
|
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
|
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
|
|
|
card = spc.StarPilotCard(
|
|
SimpleNamespace(
|
|
brand="hyundai",
|
|
carFingerprint=spc.HYUNDAI_CAR.KIA_FORTE_2021_NON_SCC,
|
|
flags=spc.HyundaiFlags.NON_SCC,
|
|
),
|
|
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
|
|
)
|
|
|
|
car_state = make_car_state(available=True, button_events=[SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)])
|
|
starpilot_car_state = SimpleNamespace(distancePressed=False)
|
|
sm = make_sm()
|
|
toggles = make_toggles(always_on_lateral=True, main_cruise_aol_toggle=True)
|
|
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
|
|
assert ret.alwaysOnLateralAllowed is True
|
|
assert ret.alwaysOnLateralEnabled is True
|
|
|
|
|
|
def test_hyundai_main_cruise_button_can_start_aol_before_normal_engagement(monkeypatch, tmp_path):
|
|
monkeypatch.setattr(spc, "Params", FakeParams)
|
|
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
|
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
|
|
|
card = spc.StarPilotCard(
|
|
SimpleNamespace(brand="hyundai"),
|
|
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
|
|
)
|
|
|
|
car_state = make_car_state(available=True, button_events=[SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)])
|
|
starpilot_car_state = SimpleNamespace(distancePressed=False)
|
|
sm = make_sm()
|
|
toggles = make_toggles(always_on_lateral=True, main_cruise_aol_toggle=True)
|
|
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
assert ret.alwaysOnLateralAllowed is True
|
|
assert ret.alwaysOnLateralEnabled is True
|
|
|
|
car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)]
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
assert ret.alwaysOnLateralAllowed is False
|
|
|
|
|
|
def test_hyundai_main_cruise_button_wrapped_enum_can_toggle_aol(monkeypatch, tmp_path):
|
|
monkeypatch.setattr(spc, "Params", FakeParams)
|
|
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
|
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
|
|
|
card = spc.StarPilotCard(
|
|
SimpleNamespace(brand="hyundai"),
|
|
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
|
|
)
|
|
|
|
car_state = make_car_state(available=True, button_events=[make_wrapped_button_event(spc.ButtonType.mainCruise, True)])
|
|
starpilot_car_state = SimpleNamespace(distancePressed=False)
|
|
sm = make_sm()
|
|
toggles = make_toggles(always_on_lateral=True, main_cruise_aol_toggle=True)
|
|
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
assert ret.alwaysOnLateralAllowed is True
|
|
assert ret.alwaysOnLateralEnabled is True
|
|
|
|
car_state.buttonEvents = [make_wrapped_button_event(spc.ButtonType.mainCruise, True)]
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
assert ret.alwaysOnLateralAllowed is False
|
|
assert ret.alwaysOnLateralEnabled is False
|
|
|
|
|
|
def test_hyundai_main_cruise_button_adopts_slc_when_assigned_to_slc(monkeypatch, tmp_path):
|
|
monkeypatch.setattr(spc, "Params", FakeParams)
|
|
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
|
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
|
|
|
card = spc.StarPilotCard(SimpleNamespace(brand="hyundai"), SimpleNamespace(alternativeExperience=0))
|
|
|
|
car_state = make_car_state(button_events=[SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)])
|
|
starpilot_car_state = SimpleNamespace(distancePressed=False)
|
|
sm = make_sm()
|
|
toggles = make_toggles(always_on_lateral=True, always_on_lateral_lkas=True,
|
|
main_cruise_slc_adopt=True, speed_limit_controller=True)
|
|
|
|
initial_allowed = card.always_on_lateral_allowed
|
|
card.update(car_state, starpilot_car_state, sm, toggles)
|
|
|
|
assert card.always_on_lateral_allowed is initial_allowed
|
|
assert card.params_memory.get_bool("SLCAdoptSpeedLimit") is True
|
|
|
|
|
|
def test_honda_lkas_button_pauses_lateral_when_cruise_is_active(monkeypatch, tmp_path):
|
|
monkeypatch.setattr(spc, "Params", FakeParams)
|
|
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
|
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
|
|
|
card = spc.StarPilotCard(
|
|
SimpleNamespace(brand="honda"),
|
|
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
|
|
)
|
|
card.always_on_lateral_allowed = True
|
|
|
|
car_state = make_car_state(available=True, enabled=True, button_events=[SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)])
|
|
starpilot_car_state = SimpleNamespace(distancePressed=False)
|
|
sm = make_sm()
|
|
sm["selfdriveState"].active = True
|
|
toggles = make_toggles(always_on_lateral_lkas=True, lkas_allowed_for_aol=True)
|
|
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
|
|
assert ret.alwaysOnLateralAllowed is False
|
|
assert ret.pauseLateral is True
|
|
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
|
|
assert ret.alwaysOnLateralAllowed is True
|
|
assert ret.pauseLateral is False
|
|
|
|
|
|
def test_main_aol_still_follows_cruise_main_for_other_platforms(monkeypatch, tmp_path):
|
|
monkeypatch.setattr(spc, "Params", FakeParams)
|
|
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
|
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
|
|
|
card = spc.StarPilotCard(SimpleNamespace(brand="toyota", carFingerprint="TOYOTA_TEST", pcmCruise=True),
|
|
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL))
|
|
|
|
ret = card.update(make_car_state(available=True), SimpleNamespace(distancePressed=False), make_sm(),
|
|
make_toggles(always_on_lateral_main=True))
|
|
|
|
assert ret.alwaysOnLateralAllowed is True
|
|
assert ret.alwaysOnLateralEnabled is True
|
|
|
|
|
|
def test_pacifica_hybrid_main_aol_waits_for_set_press(monkeypatch, tmp_path):
|
|
monkeypatch.setattr(spc, "Params", FakeParams)
|
|
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
|
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
|
|
|
card = spc.StarPilotCard(
|
|
SimpleNamespace(brand="chrysler", carFingerprint=CHRYSLER_CAR.CHRYSLER_PACIFICA_2019_HYBRID, pcmCruise=True),
|
|
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
|
|
)
|
|
|
|
sm = make_sm()
|
|
toggles = make_toggles(always_on_lateral_main=True)
|
|
starpilot_car_state = SimpleNamespace(distancePressed=False)
|
|
car_state = make_car_state(available=True, enabled=False)
|
|
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
assert ret.alwaysOnLateralAllowed is False
|
|
assert ret.alwaysOnLateralEnabled is False
|
|
|
|
car_state.cruiseState.enabled = True
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
assert ret.alwaysOnLateralAllowed is True
|
|
assert ret.alwaysOnLateralEnabled is True
|
|
|
|
car_state.cruiseState.enabled = False
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
assert ret.alwaysOnLateralAllowed is True
|
|
assert ret.alwaysOnLateralEnabled is True
|
|
|
|
car_state.cruiseState.available = False
|
|
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
|
assert ret.alwaysOnLateralAllowed is False
|
|
assert ret.alwaysOnLateralEnabled is False
|
|
|
|
|
|
def test_conditional_chill_wheel_override_cycles_manual_state(monkeypatch, tmp_path):
|
|
monkeypatch.setattr(spc, "Params", FakeParams)
|
|
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
|
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
|
|
|
card = spc.StarPilotCard(SimpleNamespace(brand="gm"), SimpleNamespace(alternativeExperience=0))
|
|
sm = make_sm()
|
|
toggles = make_toggles(conditional_chill_mode=True)
|
|
|
|
sm["selfdriveState"].experimentalMode = True
|
|
card.handle_experimental_mode(sm, toggles)
|
|
assert card.params_memory.get_int("CCStatus") == spc.CCStatus["USER_CHILL"]
|
|
|
|
card.handle_experimental_mode(sm, toggles)
|
|
assert card.params_memory.get_int("CCStatus") == spc.CCStatus["OFF"]
|
|
|
|
|
|
def test_cancel_button_short_press_can_run_independent_mapping(monkeypatch, tmp_path):
|
|
monkeypatch.setattr(spc, "Params", FakeParams)
|
|
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
|
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
|
|
|
card = spc.StarPilotCard(SimpleNamespace(brand="gm"), SimpleNamespace(alternativeExperience=0))
|
|
sm = make_sm()
|
|
toggles = make_toggles(bookmark_via_cancel=True)
|
|
starpilot_car_state = SimpleNamespace(distancePressed=False, cancelPressed=False)
|
|
|
|
card.update(make_car_state(), starpilot_car_state, sm, toggles)
|
|
assert card.params_memory.get_int("WheelButtonBookmarkCounter") == 0
|
|
|
|
starpilot_car_state.cancelPressed = True
|
|
ret = card.update(make_car_state(), starpilot_car_state, sm, toggles)
|
|
assert ret.cancelLongPressed is False
|
|
assert ret.cancelVeryLongPressed is False
|
|
assert card.params_memory.get_int("WheelButtonBookmarkCounter") == 0
|
|
|
|
starpilot_car_state.cancelPressed = False
|
|
ret = card.update(make_car_state(), starpilot_car_state, sm, toggles)
|
|
assert ret.cancelLongPressed is False
|
|
assert ret.cancelVeryLongPressed is False
|
|
assert card.params_memory.get_int("WheelButtonBookmarkCounter") == 1
|
|
|
|
|
|
def test_favorite_wheel_action_toggles_hidden_onroad_slot(monkeypatch, tmp_path):
|
|
monkeypatch.setattr(spc, "Params", FakeParams)
|
|
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
|
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
|
|
|
card = spc.StarPilotCard(SimpleNamespace(brand="gm"), SimpleNamespace(alternativeExperience=0))
|
|
card.params.put("RedneckCruise", False)
|
|
card.params.put(FAVORITE_SLOTS_PARAM, [
|
|
{"enabled": True, "show_onroad": False, "key": "RedneckCruise", "label": "Redneck Cruise"},
|
|
])
|
|
|
|
card.handle_button_event("lkas", make_sm(), make_toggles(favorite_1_via_lkas=True))
|
|
|
|
assert card.params.get_bool("RedneckCruise") is True
|
|
assert card.params_memory.get_bool("StarPilotTogglesUpdated") is True
|