mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-03 14:43:48 +08:00
firestarsdog
234 lines
7.0 KiB
Python
234 lines
7.0 KiB
Python
import types
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import pytest
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class MockSubMaster:
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def __init__(self):
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self.valid = {}
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self.updated = {}
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self.data = {}
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def __getitem__(self, key):
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return self.data.get(key)
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def __setitem__(self, key, value):
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self.data[key] = value
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def reset(self):
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self.valid.clear()
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self.updated.clear()
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self.data.clear()
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mock_ui_state = types.SimpleNamespace(
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is_metric=False,
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sm=MockSubMaster(),
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conditional_status=0,
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starpilot_toggles={
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"conditional_experimental_mode": True,
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"conditional_curves": True,
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},
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)
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from openpilot.selfdrive.ui.onroad.starpilot import aethergauge
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from openpilot.selfdrive.ui.onroad.starpilot.aethergauge import (
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AetherGauge,
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AetherGaugeData,
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IndicatorType,
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_cem_curvature_data,
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_is_cem_curvature,
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_is_curve_speed,
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_is_lead,
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_is_stop_light,
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_lead_data,
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)
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from openpilot.starpilot.common.experimental_state import CEStatus
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aethergauge.ui_state = mock_ui_state
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@pytest.fixture(autouse=True)
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def reset_ui_state():
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mock_ui_state.sm.reset()
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mock_ui_state.conditional_status = CEStatus["OFF"]
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mock_ui_state.starpilot_toggles.update({
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"conditional_experimental_mode": True,
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"conditional_curves": True,
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})
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mock_ui_state.sm.valid["selfdriveState"] = True
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mock_ui_state.sm["selfdriveState"] = types.SimpleNamespace(enabled=True)
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def _set_plan(**overrides):
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plan = types.SimpleNamespace(
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experimentalMode=True,
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roadCurvature=0.002,
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cscSpeed=0.0,
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vCruise=20.0,
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redLight=False,
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forcingStop=False,
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trackingLead=False,
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)
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for key, value in overrides.items():
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setattr(plan, key, value)
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mock_ui_state.sm.valid["starpilotPlan"] = True
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mock_ui_state.sm["starpilotPlan"] = plan
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return plan
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def test_is_lead_inactive_if_not_experimental():
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_set_plan(experimentalMode=False, trackingLead=True)
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mock_ui_state.sm.valid["radarState"] = True
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mock_ui_state.sm["radarState"] = types.SimpleNamespace(
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leadOne=types.SimpleNamespace(status=True, vLead=5.0, dRel=20.0)
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)
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assert not _is_lead()
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def test_is_lead_inactive_if_not_tracking_lead():
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_set_plan(trackingLead=False)
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mock_ui_state.sm.valid["radarState"] = True
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mock_ui_state.sm["radarState"] = types.SimpleNamespace(
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leadOne=types.SimpleNamespace(status=True, vLead=5.0, dRel=20.0)
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)
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assert not _is_lead()
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def test_is_lead_active_when_experimental_and_tracking():
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_set_plan(trackingLead=True)
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mock_ui_state.sm.valid["radarState"] = True
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mock_ui_state.sm["radarState"] = types.SimpleNamespace(
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leadOne=types.SimpleNamespace(status=True, vLead=5.0, dRel=20.0)
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)
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assert _is_lead()
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def test_lead_data_slow():
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mock_ui_state.sm.valid["radarState"] = True
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mock_ui_state.sm["radarState"] = types.SimpleNamespace(
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leadOne=types.SimpleNamespace(status=True, vLead=5.0, dRel=25.0)
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)
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data = _lead_data()
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assert data.text == "SLOW"
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assert data.indicator_extra == "slower"
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assert data.indicator_value == 25.0
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assert data.indicator_type is IndicatorType.LEAD
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def test_lead_data_stopped():
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mock_ui_state.sm.valid["radarState"] = True
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mock_ui_state.sm["radarState"] = types.SimpleNamespace(
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leadOne=types.SimpleNamespace(status=True, vLead=0.5, dRel=12.0)
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)
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data = _lead_data()
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assert data.text == "STOPPED"
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assert data.indicator_extra == "stopped"
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assert data.indicator_value == 12.0
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assert data.indicator_type is IndicatorType.LEAD
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def test_is_stop_light():
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_set_plan(redLight=True)
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assert _is_stop_light()
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mock_ui_state.sm["starpilotPlan"].redLight = False
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assert not _is_stop_light()
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def test_is_curve_speed_follows_csc_activation_without_mode_gate(monkeypatch):
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monkeypatch.setattr(aethergauge, "_csc_state", lambda: {"active": True, "curvature": 0.002})
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assert _is_curve_speed()
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monkeypatch.setattr(aethergauge, "_csc_state", lambda: {"active": False, "curvature": 0.002})
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assert not _is_curve_speed()
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def test_is_cem_curvature_requires_selected_cem_reason():
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_set_plan()
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mock_ui_state.conditional_status = CEStatus["SPEED"]
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assert not _is_cem_curvature()
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mock_ui_state.conditional_status = CEStatus["CURVATURE"]
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assert _is_cem_curvature()
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def test_is_cem_curvature_uses_status_not_curvature_threshold():
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_set_plan(roadCurvature=0.00001)
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mock_ui_state.conditional_status = CEStatus["CURVATURE"]
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assert _is_cem_curvature()
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def test_is_cem_curvature_requires_experimental_mode():
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_set_plan(experimentalMode=False)
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mock_ui_state.conditional_status = CEStatus["CURVATURE"]
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assert not _is_cem_curvature()
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def test_is_cem_curvature_requires_cem_mode_enabled():
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_set_plan()
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mock_ui_state.conditional_status = CEStatus["CURVATURE"]
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mock_ui_state.starpilot_toggles["conditional_experimental_mode"] = False
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assert not _is_cem_curvature()
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def test_is_cem_curvature_requires_curve_toggle():
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_set_plan()
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mock_ui_state.conditional_status = CEStatus["CURVATURE"]
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mock_ui_state.starpilot_toggles["conditional_curves"] = False
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assert not _is_cem_curvature()
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def test_is_cem_curvature_rejects_stale_status_when_tracking_stops():
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_set_plan()
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mock_ui_state.conditional_status = CEStatus["CURVATURE"]
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mock_ui_state.sm["selfdriveState"].enabled = False
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assert not _is_cem_curvature()
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def test_cem_curvature_data_preserves_curve_metrics(monkeypatch):
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_set_plan(roadCurvature=0.003, cscSpeed=8.0, vCruise=10.0)
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mock_ui_state.sm.valid["carState"] = True
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mock_ui_state.sm["carState"] = types.SimpleNamespace(vEgo=12.0)
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monkeypatch.setattr(aethergauge, "get_border_color", lambda _: aethergauge.COLOR_CEM_SPEED)
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data = _cem_curvature_data()
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assert isinstance(data, AetherGaugeData)
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assert data.indicator_type is IndicatorType.ROAD_CURVE
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assert data.indicator_value == pytest.approx(0.003)
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assert data.reduction_text
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def test_widget_wires_cem_source_to_road_curve_data(monkeypatch):
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_set_plan(roadCurvature=0.003, cscSpeed=8.0, vCruise=10.0)
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mock_ui_state.sm.valid["carState"] = True
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mock_ui_state.sm["carState"] = types.SimpleNamespace(vEgo=12.0)
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mock_ui_state.conditional_status = CEStatus["CURVATURE"]
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monkeypatch.setattr(aethergauge, "_is_curve_speed", lambda: False)
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monkeypatch.setattr(aethergauge, "get_border_color", lambda _: aethergauge.COLOR_CEM_SPEED)
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monkeypatch.setattr(aethergauge.rl, "get_time", lambda: 1.0)
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gauge = AetherGauge()
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data = gauge.get_active_data()
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assert data is not None
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assert data.indicator_type is IndicatorType.ROAD_CURVE
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assert data.indicator_value == pytest.approx(0.003)
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def test_csc_source_precedes_cem_source(monkeypatch):
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_set_plan(roadCurvature=0.003, cscSpeed=8.0, vCruise=10.0)
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mock_ui_state.sm.valid["carState"] = True
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mock_ui_state.sm["carState"] = types.SimpleNamespace(vEgo=12.0)
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mock_ui_state.conditional_status = CEStatus["CURVATURE"]
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monkeypatch.setattr(aethergauge, "_csc_state", lambda: {"active": True, "curvature": 0.01})
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monkeypatch.setattr(aethergauge, "get_border_color", lambda _: aethergauge.COLOR_CEM_SPEED)
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monkeypatch.setattr(aethergauge.rl, "get_time", lambda: 1.0)
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gauge = AetherGauge()
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data = gauge.get_active_data()
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assert data is not None
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assert data.indicator_type is IndicatorType.ROAD_CURVE
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assert data.indicator_value == pytest.approx(0.01)
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