mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
241 lines
8.8 KiB
Python
241 lines
8.8 KiB
Python
from itertools import product
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from types import SimpleNamespace
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import pytest
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from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, HyundaiFlags
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from openpilot.selfdrive.controls.lib.drive_helpers import (
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get_lateral_active,
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update_lateral_fault_latch,
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)
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from openpilot.starpilot.controls import starpilot_card as spc
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class FakeParams:
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def __init__(self, *args, **kwargs):
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self._store = {}
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def get(self, key):
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return self._store.get(key)
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def get_bool(self, key):
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return bool(self._store.get(key, False))
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def put_bool(self, key, value):
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self._store[key] = bool(value)
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def put(self, key, value):
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self._store[key] = value
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def get_int(self, key, default=0):
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return int(self._store.get(key, default))
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def put_int(self, key, value):
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self._store[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 FakeSM(dict):
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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self.updated = {"starpilotPlan": False}
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def make_sm():
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return FakeSM({
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"carControl": SimpleNamespace(longActive=False, latActive=False),
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"selfdriveState": SimpleNamespace(active=False, alertType=[], experimentalMode=False),
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"starpilotSelfdriveState": SimpleNamespace(alertType=[]),
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"starpilotPlan": SimpleNamespace(lateralCheck=True),
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"liveCalibration": SimpleNamespace(calPerc=100),
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})
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def make_toggles(**overrides):
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defaults = {
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"always_on_lateral": True,
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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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"lkas_allowed_for_aol": True,
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"main_cruise_aol_toggle": False,
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"main_cruise_slc_adopt": False,
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"speed_limit_controller": False,
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"openpilot_longitudinal": False,
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"pulse_and_glide_available": False,
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"pulse_and_glide_via_cancel": False,
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"pulse_and_glide_via_cancel_long": False,
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"pulse_and_glide_via_cancel_very_long": False,
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"pulse_and_glide_via_lkas": False,
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"has_canfd_media_buttons": False,
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"experimental_mode_available": False,
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"conditional_experimental_mode": False,
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"conditional_chill_mode": False,
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"safe_mode": False,
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}
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for key in ("lkas", "main_cruise", "cancel", "cancel_long", "cancel_very_long", "distance",
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"distance_long", "distance_very_long", "mode", "mode_long", "mode_very_long",
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"star", "star_long", "star_very_long"):
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for prefix in ("experimental_mode_via_", "bookmark_via_", "force_coast_via_",
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"pause_lateral_via_", "pause_longitudinal_via_", "switchback_mode_via_",
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"traffic_mode_via_"):
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defaults[f"{prefix}{key}"] = False
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for slot in range(1, 4):
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for key in ("lkas", "main_cruise", "cancel", "distance"):
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defaults[f"favorite_{slot}_via_{key}"] = False
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defaults.update(overrides)
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return SimpleNamespace(**defaults)
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def make_car_state(*, available=False, enabled=False, gear=None, button_type=None,
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brake_pressed=False, v_ego=15.0):
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events = [] if button_type is None else [SimpleNamespace(type=button_type, pressed=True)]
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return SimpleNamespace(
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buttonEvents=events,
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cruiseState=SimpleNamespace(available=available, enabled=enabled),
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gearShifter=spc.GearShifter.drive if gear is None else gear,
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brakePressed=brake_pressed,
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gasPressed=False,
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standstill=False,
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vEgo=v_ego,
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)
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HYUNDAI_PLATFORM_CASES = (
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pytest.param(HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024,
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HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.CAMERA_SCC | HyundaiFlags.HYBRID,
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id="elantra-hybrid-2024-26"),
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pytest.param(HYUNDAI_CAR.HYUNDAI_SONATA,
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HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
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id="sonata"),
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pytest.param(HYUNDAI_CAR.HYUNDAI_SONATA_HYBRID,
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HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
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id="sonata-hybrid"),
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pytest.param(HYUNDAI_CAR.HYUNDAI_KONA_NON_SCC,
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HyundaiFlags.NON_SCC | HyundaiFlags.ALT_LIMITS,
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id="kona-non-scc"),
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)
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@pytest.mark.parametrize(("fingerprint", "flags"), HYUNDAI_PLATFORM_CASES)
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@pytest.mark.parametrize("mapping", ("lkas", "main"))
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def test_hyundai_aol_mapping_survives_brake_and_cruise_reenable(
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monkeypatch, tmp_path, fingerprint, flags, mapping,
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):
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monkeypatch.setattr(spc, "Params", FakeParams)
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monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
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card = spc.StarPilotCard(
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SimpleNamespace(brand="hyundai", carFingerprint=fingerprint, flags=flags),
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SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
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)
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toggles = make_toggles(
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always_on_lateral_lkas=mapping == "lkas",
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main_cruise_aol_toggle=mapping == "main",
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)
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sm = make_sm()
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starpilot_car_state = SimpleNamespace(distancePressed=False)
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button_type = spc.ButtonType.lkas if mapping == "lkas" else spc.ButtonType.mainCruise
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pressed = make_car_state(button_type=button_type)
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card.update(pressed, starpilot_car_state, sm, toggles)
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assert pressed.buttonEvents
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assert starpilot_car_state.alwaysOnLateralAllowed is True
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assert starpilot_car_state.alwaysOnLateralEnabled is True
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active = make_car_state(available=True, enabled=True)
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sm["selfdriveState"].active = True
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card.update(active, starpilot_car_state, sm, toggles)
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braking = make_car_state(available=True, enabled=False, brake_pressed=True)
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sm["selfdriveState"].active = False
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card.update(braking, starpilot_car_state, sm, toggles)
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assert starpilot_car_state.alwaysOnLateralEnabled is True
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reenabled = make_car_state(available=True, enabled=True)
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sm["selfdriveState"].active = True
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card.update(reenabled, starpilot_car_state, sm, toggles)
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assert starpilot_car_state.alwaysOnLateralAllowed is True
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assert starpilot_car_state.alwaysOnLateralEnabled is True
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@pytest.mark.parametrize(("fingerprint", "flags"), HYUNDAI_PLATFORM_CASES)
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@pytest.mark.parametrize("mapping", ("lkas", "main"))
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def test_hyundai_button_sequences_are_total(monkeypatch, tmp_path, fingerprint, flags, mapping):
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monkeypatch.setattr(spc, "Params", FakeParams)
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monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
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card = spc.StarPilotCard(
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SimpleNamespace(brand="hyundai", carFingerprint=fingerprint, flags=flags),
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SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
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)
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toggles = make_toggles(
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always_on_lateral_lkas=mapping == "lkas",
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main_cruise_aol_toggle=mapping == "main",
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)
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sm = make_sm()
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starpilot_car_state = SimpleNamespace(distancePressed=False)
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button_types = (None, spc.ButtonType.lkas, spc.ButtonType.mainCruise,
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spc.ButtonType.cancel, spc.ButtonType.accelCruise,
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spc.ButtonType.decelCruise)
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for sequence in product(button_types, repeat=3):
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for frame, button_type in enumerate(sequence):
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gear = spc.GearShifter.neutral if frame == 1 else spc.GearShifter.drive
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car_state = make_car_state(
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available=frame != 1,
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enabled=frame == 2,
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gear=gear,
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button_type=button_type,
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brake_pressed=frame == 1,
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)
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sm["selfdriveState"].active = frame == 2
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result = card.update(car_state, starpilot_car_state, sm, toggles)
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assert not result.alwaysOnLateralEnabled or result.alwaysOnLateralAllowed
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def test_elantra_hybrid_fault_latch_rearms_on_cruise_rising_edge():
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faulted = False
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previous_cruise_enabled = False
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def step(cruise_enabled, steer_fault_temporary):
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nonlocal faulted, previous_cruise_enabled
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cruise_reenabled = cruise_enabled and not previous_cruise_enabled
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faulted = update_lateral_fault_latch(
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faulted,
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lateral_requested=True,
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steer_fault_temporary=steer_fault_temporary,
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reset=cruise_reenabled,
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)
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lateral_active = get_lateral_active(
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False, False, True, steer_fault_temporary, False,
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False, False, True, faulted,
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)
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previous_cruise_enabled = cruise_enabled
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return lateral_active
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assert step(True, False) is True
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assert step(False, True) is False
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assert step(False, False) is False
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assert step(True, False) is True
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@pytest.mark.parametrize("gear", (spc.GearShifter.neutral, spc.GearShifter.park, spc.GearShifter.reverse))
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def test_lkas_aol_does_not_stick_enabled_in_non_driving_gears(monkeypatch, tmp_path, gear):
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monkeypatch.setattr(spc, "Params", FakeParams)
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monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
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card = spc.StarPilotCard(
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SimpleNamespace(brand="hyundai", carFingerprint=HYUNDAI_CAR.HYUNDAI_SONATA),
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SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
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)
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toggles = make_toggles(always_on_lateral_lkas=True)
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sm = make_sm()
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starpilot_car_state = SimpleNamespace(distancePressed=False)
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card.update(make_car_state(button_type=spc.ButtonType.lkas), starpilot_car_state, sm, toggles)
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result = card.update(make_car_state(gear=gear), starpilot_car_state, sm, toggles)
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assert result.alwaysOnLateralEnabled is False
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