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firestar5683
59 lines
2.4 KiB
Python
59 lines
2.4 KiB
Python
from types import SimpleNamespace
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from cereal import car
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from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR
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from openpilot.selfdrive.car.car_specific import CarSpecificEvents
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from openpilot.selfdrive.car.cruise_state import should_cancel_stock_cruise, should_flag_cruise_mismatch
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def make_cp(brand="hyundai", op_long=True, pcm_cruise=False):
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cp = car.CarParams.new_message()
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cp.brand = brand
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cp.openpilotLongitudinalControl = op_long
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cp.pcmCruise = pcm_cruise
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return cp
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def test_hyundai_openpilot_long_does_not_cancel_active_acc_req_feedback():
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cp = make_cp()
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assert not should_cancel_stock_cruise(cp, cruise_enabled=True, controls_enabled=True)
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assert not should_flag_cruise_mismatch(cp, cruise_enabled=True, controls_enabled=True, effective_pcm_cruise=False)
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def test_hyundai_openpilot_long_still_flags_cruise_when_controls_disabled():
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cp = make_cp()
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assert should_cancel_stock_cruise(cp, cruise_enabled=True, controls_enabled=False)
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assert should_flag_cruise_mismatch(cp, cruise_enabled=True, controls_enabled=False, effective_pcm_cruise=False)
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def test_non_hyundai_openpilot_long_behavior_is_unchanged():
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cp = make_cp(brand="toyota")
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assert should_cancel_stock_cruise(cp, cruise_enabled=True, controls_enabled=True)
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assert should_flag_cruise_mismatch(cp, cruise_enabled=True, controls_enabled=True, effective_pcm_cruise=False)
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def test_pcm_cruise_behavior_is_unchanged():
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cp = make_cp(op_long=False, pcm_cruise=True)
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assert not should_cancel_stock_cruise(cp, cruise_enabled=True, controls_enabled=True)
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assert should_cancel_stock_cruise(cp, cruise_enabled=True, controls_enabled=False)
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assert not should_flag_cruise_mismatch(cp, cruise_enabled=True, controls_enabled=True, effective_pcm_cruise=True)
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assert should_flag_cruise_mismatch(cp, cruise_enabled=True, controls_enabled=False, effective_pcm_cruise=True)
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def test_kia_ray_ev_allows_stock_cruise_to_enable_controls():
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for candidate, ignore_cruise_state in ((HYUNDAI_CAR.KIA_RAY_EV, True), (HYUNDAI_CAR.HYUNDAI_SONATA, False)):
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cp = SimpleNamespace(brand="hyundai", carFingerprint=candidate, flags=0)
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handler = CarSpecificEvents(cp)
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captured = {}
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handler.create_common_events = lambda *args, **kwargs: captured.update(kwargs)
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handler.update(SimpleNamespace(), SimpleNamespace(), SimpleNamespace())
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assert captured["pcm_enable"] is True
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assert captured["ignore_cruise_state"] is ignore_cruise_state
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